Closed-loop Performance Optimization of Model Predictive Control with Robustness Guarantees

Riccardo Zuliani; Efe C. Balta; John Lygeros

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arXiv · 2403.04655

Closed-loop Performance Optimization of Model Predictive Control with Robustness Guarantees

Riccardo Zuliani·Efe C. Balta·John Lygeros

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Abstract

Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the constraints of linear MPC schemes to improve the closed-loop performance and robust constraint satisfaction on uncertain nonlinear dynamics with additive noise. The tuning is performed using a novel MPC tuning algorithm based on backpropagation developed in our earlier work. Using the scenario approach, we provide probabilistic bounds on the likelihood of closed-loop constraint violation over a finite horizon. We showcase the effectiveness of the proposed method on linear and nonlinear simulation examples.

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BibTeX RIS

Riccardo Zuliani, Efe C. Balta, John Lygeros. 2024-03-07. Closed-loop Performance Optimization of Model Predictive Control with Robustness Guarantees. https://arxiv.org/abs/2403.04655

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