An algorithm for robust explicit/multi-parametric model predictive control
An algorithm for robust explicit/multi-parametric model predictive control
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DOI：
10.1016/j.automatica.2012.11.035
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发表时间：
2013-02
期刊：
影响因子：
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通讯作者：
K. Kouramas;Christos Panos;Nuno P. Faísca;E. Pistikopoulos
中科院分区：
文献类型：
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作者：
K. Kouramas;Christos Panos;Nuno P. Faísca;E. Pistikopoulos
针对不确定线性离散时间系统，提出了一种鲁棒显式/多参数模型预测控制（MPC）新算法。基于以前的工作动态规划（DP），多参数规划和鲁棒优化，所提出的算法的特点，（i）的MPC优化问题的DP重新制定，（ii）的约束的鲁棒重新制定，和（iii）多参数规划步骤，其中控制变量作为状态变量的显式函数获得，使得对于不确定性的所有容许值，满足状态和输入约束。所提出的程序的一个关键特征是，相对于以前的方法，它只解决了一个凸多参数规划问题的DP过程的每个阶段。
A new algorithm for robust explicit/multi-parametric Model Predictive Control (MPC) for uncertain, linear discrete-time systems is proposed. Based on previous work on Dynamic Programming (DP), multi-parametric Programming and Robust Optimization, the proposed algorithm features, (i) a DP reformulations of the MPC optimization problem, (ii) a robust reformulation of the constraints, and (iii) a multi-parametric programming step, where the control variables are obtained as explicit functions of the state variable, such that the state and input constraints are satisfied for all admissible values of the uncertainty. A key feature of the proposed procedure is that, as opposed to previous methods, it only solves a convex multi-parametric programming problem for each stage of the DP procedure.