Disturbance feedback-based model predictive control in uncertain dynamic environments

authored by

Philipp Buschermöhle, Taouba Jouini, Torsten Lilge, Matthias A. Müller

Abstract

This paper presents a robust MPC scheme for linear systems subject to time-varying, uncertain constraints that arise from uncertain environments. The predicted input sequence is parameterized over future environment states to guarantee constraint satisfaction despite an imprecise environment prediction and unknown evolution of the future constraints. We provide theoretical guarantees for recursive feasibility and asymptotic convergence. Finally, a brief simulation example showcases our results.

Organisation(s)

Institute of Automatic Control

Type

Conference article

Journal

IFAC-PapersOnLine

Volume

58

Pages

146-152

No. of pages

7

ISSN

2405-8971

Publication date

2024

Publication status

Published

Peer reviewed

Yes

ASJC Scopus subject areas

Control and Systems Engineering

Electronic version(s)

https://doi.org/10.48550/arXiv.2404.09893 (Access: Open)
https://doi.org/10.1016/j.ifacol.2024.09.023 (Access: Open)