Publication: Robust model predictive control with time-varying tubes
Issued Date
2017-08-01
Resource Type
ISSN
20054092
15986446
15986446
Other identifier(s)
2-s2.0-85019905263
Rights
Mahidol University
Rights Holder(s)
SCOPUS
Bibliographic Citation
International Journal of Control, Automation and Systems. Vol.15, No.4 (2017), 1479-1484
Suggested Citation
Pornchai Bumroongsri, Soorathep Kheawhom Robust model predictive control with time-varying tubes. International Journal of Control, Automation and Systems. Vol.15, No.4 (2017), 1479-1484. doi:10.1007/s12555-016-0227-z Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/42333
Research Projects
Organizational Units
Authors
Journal Issue
Thesis
Title
Robust model predictive control with time-varying tubes
Author(s)
Other Contributor(s)
Abstract
© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. This paper focuses on the problem of robustly stabilizing uncertain discrete-time systems subject to bounded disturbances. The proposed tube-based model predictive controller ensures that all possible realizations of the state trajectory lie in the time-varying tubes so robust stability and satisfaction of the state and input constraints are guaranteed. The time-varying tubes are computed off-line so the on-line computational time is tractable. At each sampling time, the precomputed time-varying tubes are included in the optimal control problem as the constraints in the prediction horizon and only a quadratic programming problem is solved. In comparison to the algorithm that calculates the time-varying tubes on-line, the proposed algorithm can achieve the same level of control performance while the on-line computational time is greatly reduced.