CUED Publications database

Optimal constraint tightening policies for robust variable horizon model predictive control

Shekhar, RC and MacIejowski, JM (2012) Optimal constraint tightening policies for robust variable horizon model predictive control. Proceedings of the IEEE Conference on Decision and Control. pp. 5170-5175. ISSN 0191-2216

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Abstract

This paper develops a technique for improving the region of attraction of a robust variable horizon model predictive controller. It considers a constrained discrete-time linear system acted upon by a bounded, but unknown time-varying state disturbance. Using constraint tightening for robustness, it is shown how the tightening policy, parameterised as direct feedback on the disturbance, can be optimised to increase the volume of an inner approximation to the controller's true region of attraction. Numerical examples demonstrate the benefits of the policy in increasing region of attraction volume and decreasing the maximum prediction horizon length. © 2012 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 12:20
Last Modified: 08 Dec 2014 02:27
DOI: 10.1109/CDC.2012.6426710