Details
| Original language | English |
|---|---|
| Title of host publication | 2020 59th IEEE Conference on Decision and Control, CDC 2020 |
| Pages | 1235-1241 |
| Number of pages | 7 |
| ISBN (electronic) | 9781728174471 |
| Publication status | Published - 2020 |
| Event | 2020 59th IEEE Conference on Decision and Control (CDC) - Jeju, Korea, Republic of Duration: 14 Dec 2020 → 18 Dec 2020 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| Volume | 2020-December |
| ISSN (Print) | 0743-1546 |
| ISSN (electronic) | 2576-2370 |
Abstract
In this work, we propose a tube-based model predictive control (MPC) scheme for state and input constrained linear systems that are subject to dynamic uncertainties de-scribed by integral quadratic constraints (IQCs). We extend the framework of verifying exponential decay rates with IQCs in order to derive an exponentially stable scalar system that bounds the error between the nominal prediction model and the actual unknown system. In the proposed MPC scheme, this error bounding system is predicted together with the nominal model to define the size of the tube. We prove that this scheme achieves robust constraint satisfaction and input-to-state stability, and we demonstrate the flexibility of dynamic tubes in a numerical example.
ASJC Scopus subject areas
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Modelling and Simulation
Cite this
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2020 59th IEEE Conference on Decision and Control, CDC 2020. 2020. p. 1235-1241 9303819 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Dynamic uncertainties in model predictive control
T2 - 2020 59th IEEE Conference on Decision and Control (CDC)
AU - Schwenkel, Lukas
AU - Kohler, Johannes
AU - Müller, Matthias
AU - Allgower, Frank
N1 - Funding Information: This work was supported by Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Grants GRK 2198/1 - 277536708, AL 316/12-2 and MU 3929/1-2 - 279734922. The authors thank the International Max Planck Research School for Intelligent Systems (IMPRS-IS) for supporting Lukas Schwenkel.
PY - 2020
Y1 - 2020
N2 - In this work, we propose a tube-based model predictive control (MPC) scheme for state and input constrained linear systems that are subject to dynamic uncertainties de-scribed by integral quadratic constraints (IQCs). We extend the framework of verifying exponential decay rates with IQCs in order to derive an exponentially stable scalar system that bounds the error between the nominal prediction model and the actual unknown system. In the proposed MPC scheme, this error bounding system is predicted together with the nominal model to define the size of the tube. We prove that this scheme achieves robust constraint satisfaction and input-to-state stability, and we demonstrate the flexibility of dynamic tubes in a numerical example.
AB - In this work, we propose a tube-based model predictive control (MPC) scheme for state and input constrained linear systems that are subject to dynamic uncertainties de-scribed by integral quadratic constraints (IQCs). We extend the framework of verifying exponential decay rates with IQCs in order to derive an exponentially stable scalar system that bounds the error between the nominal prediction model and the actual unknown system. In the proposed MPC scheme, this error bounding system is predicted together with the nominal model to define the size of the tube. We prove that this scheme achieves robust constraint satisfaction and input-to-state stability, and we demonstrate the flexibility of dynamic tubes in a numerical example.
UR - http://www.scopus.com/inward/record.url?scp=85099883058&partnerID=8YFLogxK
U2 - 10.1109/CDC42340.2020.9303819
DO - 10.1109/CDC42340.2020.9303819
M3 - Conference contribution
SN - 978-1-7281-7446-4
SN - 978-1-7281-7448-8
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1235
EP - 1241
BT - 2020 59th IEEE Conference on Decision and Control, CDC 2020
Y2 - 14 December 2020 through 18 December 2020
ER -