Towards improving constrained robust model predictive control with free control moves
by Xianghua Ma; Shuang Fang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 33, No. 3, 2019

Abstract: An existing robust model predictive control (RMPC) algorithm parameterises the infinite horizon control moves into a set of free control moves over a fixed horizon and a state feedback law in the terminal region. This paper is towards further improving the feasibility and optimality of this kind of RMPC. The improvement is by introducing an extended parameter-dependent Lyapunov function to substitute the original parameter-dependent Lyapunov function. Correspondingly, the terminal-weighting matrix is extended parameter-dependent, the local control law is a non-parallel distributed compensation, and the terminal constraint set is an intersection of more ellipsoids. The new technique is demonstrated by a simulation example.

Online publication date: Mon, 23-Mar-2020

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