Homothetic Tube Model Predictive Control With Multi-Step Predictors
We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard MPC formulations by integrating multi-step predictors, which provide reduced error bounds. These bounds, derived from multi-step predictors, are utilized in a homothetic tube formulation to mitigate conservatism. Lastly, a multi-rate formulation is adopted to handle the incompatibilities of multi-step predictors. We provide a theoretical analysis, guaranteeing robust recursive feasibility, constraint satisfaction, and (practical) stability of the desired setpoint. We use a simulation example to compare it to existing literature and demonstrate advantages in terms of conservatism and computational complexity.
WOS:001129117400007
2023-01-01
7
3561
3566
REVIEWED
EPFL
Funder | Grant Number |
Swiss National Science Foundation through NCCR Automation | |