|Robust Model Predictive Control with Time-Varying Tubes
Pornchai Bumroongsri* and Soorathep Kheawhom
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1479-1484, 2017
Abstract : "This paper focuses on the problem of robustly stabilizing uncertain discrete-time systems subject to
bounded disturbances. The proposed tube-based model predictive controller ensures that all possible realizations of
the state trajectory lie in the time-varying tubes so robust stability and satisfaction of the state and input constraints
are guaranteed. The time-varying tubes are computed off-line so the on-line computational time is tractable. At each
sampling time, the precomputed time-varying tubes are included in the optimal control problem as the constraints
in the prediction horizon and only a quadratic programming problem is solved. In comparison to the algorithm that
calculates the time-varying tubes on-line, the proposed algorithm can achieve the same level of control performance
while the on-line computational time is greatly reduced."
Bounded disturbances, model predictive controller, robust stability, time-varying tubes.