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arXiv · 2307.10069

Robust constrained nonlinear Model Predictive Control with Gated Recurrent Unit model -- Extended version

Irene Schimperna·Lalo Magni
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Abstract

In this paper we propose a robust Model Predictive Control where a Gated Recurrent Unit network model is used to learn the input-output dynamic of the system under control. Robust satisfaction of input and output constraints and recursive feasibility in presence of model uncertainties are achieved using a constraint tightening approach. Moreover, new terminal cost and terminal set are introduced in the Model Predictive Control formulation to guarantee Input-to-State Stability of the closed loop system with respect to the uncertainty term.

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Irene Schimperna, Lalo Magni. 2023-07-19. Robust constrained nonlinear Model Predictive Control with Gated Recurrent Unit model -- Extended version. https://doi.org/10.1016/j.automatica.2023.111472

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