The explicit linear quadratic regulator for constrained systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Improving control performance of robust MPC by iterative optimization
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Robust hybrid predictive control of nonlinear systems
Automatica (Journal of IFAC)
Robust constrained predictive control using comparison model
Automatica (Journal of IFAC)
Hi-index | 22.15 |
A stabilizing control method, which does not require on-line optimizations, is developed for linear systems with polytopic model uncertainties and hard input constraints. This work is motivated by the constrained robust MPC (CRMPC) approach (IEEE Trans. Automat. Control 45 (2000a) 1765) which adopts the dual mode prediction strategy (i.e. free control moves and invariant set) and minimizes a worst case performance criterion. Based on the observation that, a feasible control sequence for a particular state can be found as a linear combination of feasible sequences for other states, we suggest a stabilizing control algorithm providing sub-optimal and feasible control sequences using pre-computed optimal sequences for some canonical states. The on-line computation of the proposed method reduces to simple matrix multiplication.