Blocking parameterizations for improving the computational tractability of affine disturbance feedback MPC problems

Many model predictive control (MPC) schemes suffer from high computational complexity. Especially robust MPC schemes, which explicitly account for the effects of disturbances, can result in computationally intractable problems. So-called move-blocking is an effective method of reducing the computational complexity of MPC problems. Unfortunately move-blocking precludes the use of terminal constraints as a means of enforcing strong feasibility of MPC problems. Thus move-blocking MPC has traditionally been employed without rigorous guarantees of constraint satisfaction. A method for enforcing strong feasibility of nominal move-blocking MPC problems was recently developed. The contribution of this paper is to generalize this method and employ it for the purpose of enforcing strong feasibility of move-blocking affine disturbance feedback robust MPC problems. Furthermore the effectiveness of different disturbance-feedback blocking strategies is investigated by means of a numerical example.


Published in:
Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, 7381-7386
Presented at:
Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC), Shanghai, China, 15-18 December 2009
Year:
2009
Publisher:
IEEE
Laboratories:


Note: The status of this file is: EPFL only


 Record created 2011-10-24, last modified 2018-01-28

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