Efficient robust constrained model predictive control with a time varying terminal constraint set

Zhaoyang Wan, Mayuresh V. Kothare

Research output: Contribution to journalArticle

Abstract

An efficient robust constrained model predictive control algorithm with a time varying terminal constraint set is developed for systems with model uncertainty and input constraints. The approach is novel in that it off-line constructs a continuum of terminal constraint sets and on-line achieves robust stability by using a relatively short control horizon (even N = 0) with a time varying terminal constraint set. This algorithm not only dramatically reduces the on-line computation but also significantly enlarges the size of the allowable set of initial conditions. Moreover, this control scheme retains the unconstrained optimal performance in the neighborhood of the equilibrium. The controller design is illustrated through a benchmark problem.

Original languageEnglish (US)
Pages (from-to)375-383
Number of pages9
JournalSystems and Control Letters
Volume48
Issue number5
DOIs
StatePublished - Apr 15 2003
Externally publishedYes

Keywords

  • Linear matrix inequalities
  • Model predictive control
  • On-line computation
  • Optimality
  • Robustness
  • Stability
  • Time-varying terminal constraint set

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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