A simple algorithm for robust MPC
| Authors: | Rossiter John, University of Sheffield, United Kingdom
Pluymers B, Katholieke Universiteit Leuven, Belgium
Suykens J.A.K., Katholieke Universiteit Leuven, Belgium
De Moor B., Katholieke Universiteit Leuven, Belgium |
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| Topic: | 2.5 Robust Control |
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| Session: | Robust Model Predictive Control |
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| Keywords: | Robust predictive control, maximal admissible sets, constraint handling, LPV systems |
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Abstract
The majority of recent works on robust MPC either require very burdensomeonline computations or are restricted to relatively small feasible regions. This paper builds on a recent work which demonstrated that one could compute the maximaladmissible set for a linear parameter varying system and shows how this set can be used as the terminal region and hence allows the definition ofan MPC algorithm requiring only quadratic programming, but with a maximal region of attraction and guaranteed convergence for the robust case.
