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Robust variable horizon MPC with move blocking

Shekhar, RC and MacIejowski, JM (2012) Robust variable horizon MPC with move blocking. Systems and Control Letters, 61. pp. 587-594. ISSN 0167-6911

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This paper introduces a new formulation of variable horizon model predictive control (VH-MPC) that utilises move blocking for reducing computational complexity. Various results pertaining to move blocking are derived, following which, a generalised blocked VH-MPC controller is formulated for linear discrete-time systems. Robustness to bounded disturbances is ensured through the use of tightened constraints. The resulting time-varying control scheme is shown to guarantee robust recursive feasibility and finite-time completion. An example is then presented for a particular choice of blocking regime, as would be applicable to vehicle manœuvring problems. Simulations demonstrate the efficacy of the formulation. © 2012 Elsevier B.V. All rights reserved.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:38
Last Modified: 09 Sep 2021 00:42
DOI: 10.1016/j.sysconle.2012.02.004