The Implicit Rigid Tube Model Predictive Control

Saša V. Raković

doi:10.1016/j.automatica.2023.111234

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arXiv · 2306.14543

The Implicit Rigid Tube Model Predictive Control

Saša V. Raković

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Abstract

A computationally efficient reformulation of the rigid tube model predictive control is developed. A unique feature of the derived formulation is the utilization of the implicit set representations. This novel formulation does not require any set algebraic operations to be performed explicitly, and its implementation requires merely the use of the standard optimization solvers.

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Saša V. Raković. 2023-06-26. The Implicit Rigid Tube Model Predictive Control. https://doi.org/10.1016/j.automatica.2023.111234

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