Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties

Carlos M. Massera; Marco H. Terra; Denis F. Wolf

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arXiv · 2012.05349

Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties

Carlos M. Massera·Marco H. Terra·Denis F. Wolf

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Abstract

We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the general min-max model predictive control. The invariance property of the proposed tube holds for any arbitrary scaling. It yields a second-order cone programming problem which is less computationally expensive than standard semi-definite programming problems. We also present a numerical example with a comparative study among the proposed approach, an open-loop guaranteed cost model predictive controller, and a homothetic tube model predictive controller for linear difference inclusion systems.

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BibTeX RIS

Carlos M. Massera, Marco H. Terra, Denis F. Wolf. 2020-12-09. Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties. https://arxiv.org/abs/2012.05349

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