Robust adaptive model predictive control with persistent excitation conditions

2022/11/17 by Xiaonan Lu, Lu, Xiaonan, Mark Cannon +1 · 4 citations
Engineering · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Mathematics #Iterative Learning Control Systems #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.2211.09275

openalex publication_date 2022/11/17 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

For constrained linear systems with bounded disturbances and parametric uncertainty, we propose a robust adaptive model predictive control strategy with online parameter estimation. Constraints enforcing persistently exciting closed loop control actions are introduced for a set-membership parameter identification scheme. The algorithm requires the online solution of a convex program, satisfies constraints robustly, and ensures recursive feasibility and input-to-state stability. Almost sure convergence to the actual system parameters is demonstrated under assumptions on stabilizability, reachability, and tight disturbance bounds.

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