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Robust explicit MPC based on approximate multiparametric convex programming
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DOI：10.1109/TAC.2006.878755.png)
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Abstract
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Many robust model predictive control (MPC) schemes require the online solution of a computationally demanding convex program. For deterministic MPC schemes, multiparametric programming was successfully applied to move offline most of the computation. In this paper, we adopt a general approximate multiparametric algorithm recently suggested for convex problems and propose to apply it to a classical robust MPC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set.
Keywords:
model predictive control (MPC)
multiparametric programming
robust control
uncertain systems
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