Title: Robust model predictive control using tubes
Abstract: A form of feedback model predictive control (MPC) that overcomes disadvantages of conventional MPC but which has manageable computational complexity is presented. The optimal control problem, solved on-line, yields a ‘tube’ and an associated piecewise affine control law that maintains the controlled trajectories in the tube despite uncertainty; computational complexity is linear (rather than exponential) in horizon length. Asymptotic stability of the controlled system is established.
Publication Year: 2003
Publication Date: 2003-11-14
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 592
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