System level disturbance reachable sets and their application to tube-based MPC
| Autor: | Jerome Sieber, Andrea Zanelli, Samir Bennani, Melanie N. Zeilinger |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
Optimization and Control (math.OC)
Reachable sets Robust model predictive control FOS: Electrical engineering electronic engineering information engineering FOS: Mathematics General Engineering Tube-based model predictive control System level parameterization Systems and Control (eess.SY) Hardware_CONTROLSTRUCTURESANDMICROPROGRAMMING Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control |
| Zdroj: | European Journal of Control, 68 |
| ISSN: | 1435-5671 0947-3580 |
| DOI: | 10.3929/ethz-b-000588256 |
| Popis: | Tube-based model predictive control (MPC) methods leverage tubes to bound deviations from a nominal trajectory due to uncertainties in order to ensure constraint satisfaction. This paper presents a novel tube‑based MPC formulation based on system level disturbance reachable sets (SL‑DRS), which leverage the affine system level parameterization (SLP). We show that imposing a finite impulse response (FIR) constraint on the affine SLP guarantees containment of all future deviations in a finite sequence of SL‑DRS. This allows us to formulate a system level tube‑MPC (SLTMPC) method using the SL‑DRS as tubes, which enables concurrent optimization of the nominal trajectory and the tubes, while using a positively invariant terminal set. Finally, we show that the SL‑DRS tubes can also be computed offline. European Journal of Control, 68 ISSN:1435-5671 ISSN:0947-3580 |
| Databáze: | OpenAIRE |
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