Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties
Systems and Control
2020-12-15 v1 Systems and Control
Optimization and Control
Abstract
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the general min-max model predictive control. The invariance property of the proposed tube holds for any arbitrary scaling. It yields a second-order cone programming problem which is less computationally expensive than standard semi-definite programming problems. We also present a numerical example with a comparative study among the proposed approach, an open-loop guaranteed cost model predictive controller, and a homothetic tube model predictive controller for linear difference inclusion systems.
Cite
@article{arxiv.2012.05349,
title = {Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties},
author = {Carlos M. Massera and Marco H. Terra and Denis F. Wolf},
journal= {arXiv preprint arXiv:2012.05349},
year = {2020}
}