Dynamic Tube MPC for Nonlinear Systems

Dynamic Tube MPC for Nonlinear Systems

Modeling error or external disturbances can severely degrade the performance of Model Predictive Control (MPC) in real-world scenarios. Robust MPC (RMPC) addresses this limitation by optimizing over feedback policies but at the expense of increased computational complexity. Tube MPC is an approximat...

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Bibliographic Details
Main Authors: Lopez, Brett Thomas (Author), Slotine, Jean-Jacques E (Author), How, Jonathan P (Author)
Other Authors: Massachusetts Institute of Technology. Aerospace Controls Laboratory (Contributor), Massachusetts Institute of Technology. Nonlinear Systems Laboratory (Contributor), Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2021-03-29T19:53:05Z.
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