2021/11/05 by Jérôme Sieber, Sieber, Jerome, Andrea Zanelli +5
Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Fault Detection and Control Systems #Microfluidic and Capillary Electrophoresis Applications #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2111.03564
openalex publication_date 2021/11/05 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Tube-based model predictive control (MPC) methods leverage tubes to bound deviations from a nominal trajectory due to uncertainties in order to ensure constraint satisfaction. This paper presents a novel tube-based MPC formulation based on system level disturbance reachable sets (SL-DRS), which leverage the affine system level parameterization (SLP). We show that imposing a finite impulse response (FIR) constraint on the affine SLP guarantees containment of all future deviations in a finite sequence of SL-DRS. This allows us to formulate a system level tube-MPC (SLTMPC) method using the SL-DRS as tubes, which enables concurrent optimization of the nominal trajectory and the tubes, while using a positively invariant terminal set. Finally, we show that the SL-DRS tubes can also be computed offline.