Robust constrained model predictive control using linear matrix inequalities
Automatica (Journal of IFAC)
Adjustable robust solutions of uncertain linear programs
Mathematical Programming: Series A and B
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Systems with persistent disturbances: predictive control with restricted constraints
Automatica (Journal of IFAC)
The explicit linear quadratic regulator for constrained systems
Automatica (Journal of IFAC)
Input-to-state stability for discrete-time nonlinear systems
Automatica (Journal of IFAC)
Robust model predictive control of constrained linear systems with bounded disturbances
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief paper: Constrained linear system with disturbance: Convergence under disturbance feedback
Automatica (Journal of IFAC)
An ellipsoidal off-line MPC scheme for uncertain polytopic discrete-time systems
Automatica (Journal of IFAC)
Brief paper: Affine and predictive control policies for a class of nonlinear systems
Automatica (Journal of IFAC)
Safe and Secure Networked Control Systems under Denial-of-Service Attacks
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Brief paper: Distributed model predictive control of dynamically decoupled systems with coupled cost
Automatica (Journal of IFAC)
Theory and Applications of Robust Optimization
SIAM Review
Stochastic receding horizon control with output feedback and bounded controls
Automatica (Journal of IFAC)
Convexity and convex approximations of discrete-time stochastic control problems with constraints
Automatica (Journal of IFAC)
Probabilistic planning for continuous dynamic systems under bounded risk
Journal of Artificial Intelligence Research
Causal state-feedback parameterizations in robust model predictive control
Automatica (Journal of IFAC)
Least-restrictive robust periodic model predictive control applied to room temperature regulation
Automatica (Journal of IFAC)
An active set solver for input-constrained robust receding horizon control
Automatica (Journal of IFAC)
Hi-index | 22.17 |
This paper is concerned with the optimal control of linear discrete-time systems subject to unknown but bounded state disturbances and mixed polytopic constraints on the state and input. It is shown that the class of admissible affine state feedback control policies with knowledge of prior states is equivalent to the class of admissible feedback policies that are affine functions of the past disturbance sequence. This implies that a broad class of constrained finite horizon robust and optimal control problems, where the optimization is over affine state feedback policies, can be solved in a computationally efficient fashion using convex optimization methods. This equivalence result is used to design a robust receding horizon control (RHC) state feedback policy such that the closed-loop system is input-to-state stable (ISS) and the constraints are satisfied for all time and all allowable disturbance sequences. The cost to be minimized in the associated finite horizon optimal control problem is quadratic in the disturbance-free state and input sequences. The value of the receding horizon control law can be calculated at each sample instant using a single, tractable and convex quadratic program (QP) if the disturbance set is polytopic, or a tractable second-order cone program (SOCP) if the disturbance set is given by a 2-norm bound.