Parallel Explicit Tube Model Predictive Control
Optimization and Control
2019-10-09 v1
Abstract
This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by implementing a real-time algorithm that iterates between the evaluation of piecewise affine functions, corresponding to the parametric solution of small-scale robust MPC problems, and the online solution of structured equality constrained QPs. The performance of the associated real-time robust MPC controllers is illustrated by a numerical case study.
Cite
@article{arxiv.1910.03271,
title = {Parallel Explicit Tube Model Predictive Control},
author = {Kai Wang and Yuning Jiang and Juraj Oravec and Mario E. Villanueva and Boris Houska},
journal= {arXiv preprint arXiv:1910.03271},
year = {2019}
}