Robust variable horizon MPC with move blocking

This paper introduces a new formulation of variable horizon model predictive control (VH-MPC) that utilises move blocking for reducing computational complexity. Various results pertaining to move blocking are derived, following which, a generalised blocked VH-MPC controller is formulated for linear...

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Veröffentlicht in:Systems & control letters Jg. 61; H. 4; S. 587 - 594
Hauptverfasser: Shekhar, Rohan C., Maciejowski, Jan M.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Amsterdam Elsevier B.V 01.04.2012
Elsevier
Schlagworte:
Adaptative systems
Applied sciences
Blocking
Computer science; control theory; systems
Control systems
Control theory. Systems
Disturbances
Effectiveness
Exact sciences and technology
Feasibility
Horizon
Mathematical models
Move blocking
Optimal control
Predictive control
Robust control
Robustness
Variable horizon
Move blocking
Robust control
Variable horizon
Predictive control
Model predictive control
Time varying system
Discrete time
Blocking
Recursive method
Feasibility
Robustness
Computational complexity
ISSN:0167-6911, 1872-7956
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Zusammenfassung:This paper introduces a new formulation of variable horizon model predictive control (VH-MPC) that utilises move blocking for reducing computational complexity. Various results pertaining to move blocking are derived, following which, a generalised blocked VH-MPC controller is formulated for linear discrete-time systems. Robustness to bounded disturbances is ensured through the use of tightened constraints. The resulting time-varying control scheme is shown to guarantee robust recursive feasibility and finite-time completion. An example is then presented for a particular choice of blocking regime, as would be applicable to vehicle manœuvring problems. Simulations demonstrate the efficacy of the formulation.
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ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2012.02.004