Robust Tube-Based MPC with Piecewise Affine Control Laws
This paper presents a tube-based model predictive control (MPC) algorithm with piecewise affine control laws for discrete-time linear systems in the presence of bounded disturbances. By solving the standard multiparametric quadratic programming (mp-QP), the explicit piecewise affine control laws for...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/358148 |
| Summary: | This paper presents a tube-based model predictive control (MPC) algorithm
with piecewise affine control laws for discrete-time linear systems in the presence of
bounded disturbances. By solving the standard multiparametric quadratic programming
(mp-QP), the explicit piecewise affine control laws for tube-based MPC are obtained.
Each control law is piecewise affine with respect to the corresponding region
(one of the partitions of the feasible set). Due to the fact that the above-mentioned procedures
are totally offline, the online computation time is short enough for stabilizing those
systems with fast dynamics. In this paper, all the involved constraint sets are assumed
to be polytopes. An illustrative example is utilized to verify the feasibility
and efficiency of the proposed algorithm. |
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| ISSN: | 1085-3375 1687-0409 |