Search
Results
-
Scalable adaptive model predictive control with parameterized tubes
(2022)This work considers linear systems with uncertain parameters and additive disturbance. Two frameworks for the adaptive model predictive controller (MPC) with different tube parameterizations are introduced to guarantee robustness for uncertain parameters and disturbances. The set membership identification approach, which uses a membership set to bound the uncertain parameter set, is applied to reduce the uncertainty. Moreover, a method ...Master Thesis -
Dual adaptive MPC using an exact reformulation of set-membership identification
(2022)This work considers linear systems affected by uncertain parameters and additive disturbances. An adaptive model predictive control (MPC) framework is introduced, which can be used with two different parameterizations of state tubes. In this framework, set-membership identification is used to reduce parameter uncertainty online. A novel technique is proposed to formulate a prediction of the set-membership identification within the MPC ...Master Thesis