000196417 001__ 196417
000196417 005__ 20190324094107.0
000196417 0247_ $$2doi$$a10.1016/j.automatica.2013.11.019
000196417 022__ $$a0005-1098
000196417 02470 $$2ISI$$a000334003500002
000196417 037__ $$aARTICLE
000196417 245__ $$aOn real-time robust model predictive control
000196417 269__ $$a2014
000196417 260__ $$aOxford$$bElsevier$$c2014
000196417 300__ $$a12
000196417 336__ $$aJournal Articles
000196417 520__ $$aHigh-speed applications impose a hard real-time constraint on the solution of a model predictive control (MPC) problem, which generally prevents the computation of the optimal control input. As a result, in most MPC implementations guarantees on feasibility and stability are sacrificed in order to achieve a real-time setting. In this paper we develop a real-time MPC approach for linear systems that provides these guarantees for arbitrary time constraints, allowing one to trade off computation time vs. performance. Stability is guaranteed by means of a constraint, enforcing that the resulting suboptimal MPC cost is a Lyapunov function. The key is then to guarantee feasibility in real-time, which is achieved by the proposed algorithm through a warm-starting technique in combination with robust MPC design. We address both regulation and tracking of piecewise constant references. As a main contribution of this paper, a new warm-start procedure together with a Lyapunov function for real-time tracking is presented. In addition to providing strong theoretical guarantees, the proposed method can be implemented at high sampling rates. Simulation examples demonstrate the effectiveness of the real-time scheme and show that computation times in the millisecond range can be achieved.
000196417 6531_ $$aReal-time model predictive control
000196417 6531_ $$aLinear systems
000196417 6531_ $$aOptimal control
000196417 700__ $$0(EPFLAUTH)214806$$aZeilinger, Melanie Nicole$$g214806
000196417 700__ $$aRaimondo, Davide M.
000196417 700__ $$aDomahidi, Alexander
000196417 700__ $$aMorari, Manfred
000196417 700__ $$0246471$$aJones, Colin$$g207237
000196417 773__ $$j50$$k3$$q683-694$$tAutomatica
000196417 8564_ $$s1126856$$uhttps://infoscience.epfl.ch/record/196417/files/realtime_robust.pdf$$yPublisher's version$$zPublisher's version
000196417 909C0 $$0252490$$pLA3$$xU12397
000196417 909CO $$ooai:infoscience.tind.io:196417$$pSTI$$particle$$qGLOBAL_SET
000196417 917Z8 $$x207237
000196417 937__ $$aEPFL-ARTICLE-196417
000196417 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000196417 980__ $$aARTICLE