On Stabilizing Terminal Costs and Regions for Configuration-Constrained Tube MPC

authored by

Boris Houska, Matthias A. Muller, Mario E. Villanueva

Abstract

This paper introduces a novel class of terminal regions and cost functions for tube model predictive control (TMPC). Our focus is on polytopic configuration-constrained TMPC schemes, which offer flexibility by introducing a significant amount of variables to model the shape of the propagated sets. This flexibility, however, comes with a challenge, namely, to enforce stability efficiently. To address this challenge, we propose tailored terminal regions and cost functions enabling efficient and stable TMPC implementations, without relying on regularity assumptions about the control system or configuration templates. Numerical case studies demonstrate the effectiveness and performance of the proposed control scheme.

Organisation(s)

Institute of Automatic Control

External Organisation(s)

ShanghaiTech University
IMT School for Advanced Studies Lucca

Type

Article

Journal

IEEE Control Systems Letters

Volume

8

Pages

1961 - 1966

No. of pages

6

Publication date

19.07.2024

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

Control and Systems Engineering, Control and Optimization

Electronic version(s)

https://doi.org/10.1109/LCSYS.2024.3411517 (Access: Open)