2019/10/08 by Wang, Kai, Jiang, Yuning, Oravec, Juraj +2
#FOS: Mathematics #Optimization and Control (math.OC)
paper · doi:10.48550/arxiv.1910.03271
This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by implementing a real-time algorithm that iterates between the evaluation of piecewise affine functions, corresponding to the parametric solution of small-scale robust MPC problems, and the online solution of structured equality constrained QPs. The performance of the associated real-time robust MPC controllers is illustrated by a numerical case study.