Title: Towards improving constrained robust model predictive control with free control moves

Authors: Xianghua Ma; Shuang Fang

Addresses: School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China ' School of Electrical and Electronic Engineering, Shanghai Institute of Technology, Shanghai 201418, China

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.

Keywords: model predictive control; polytopic description; parameter-dependent Lyapunov function; non-parallel distributed compensation law; linear matrix inequality.

DOI: 10.1504/IJMIC.2019.105969

International Journal of Modelling, Identification and Control, 2019 Vol.33 No.3, pp.208 - 215

Received: 02 Feb 2019
Accepted: 30 Jun 2019
Published online: 23 Mar 2020 *

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