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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2022

Improved Prediction dynamics for robust MPC

Résumé

This paper proposes a new MPC control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The MPC policies we consider employ: i) the intersection of ellipsoids to characterize the domain of attraction, ii) a time-varying Lyapunov function to bound from above the cost function, iii) a tailored ADMM algorithm to solve efficiently the online optimization problem. With respect to other well known techniques, the main advantage of the new approach is the reduced conservativeness.

Dates et versions

hal-03858820 , version 1 (17-11-2022)

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Hoai-Nam Nguyen. Improved Prediction dynamics for robust MPC. IEEE Transactions on Automatic Control, 2022, pp.1-16. ⟨10.1109/TAC.2022.3222754⟩. ⟨hal-03858820⟩
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