Computing Ellipsoidal Robust Forward Invariant Tubes for Nonlinear MPC. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Villanueva, Mario E.; Li, Jiaqi C.; Feng, Xuhui; Chachuat, Benoît; Houska, Boris
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 7175
• Page End: 7180
• Publication Date: 2017-07
• Subjects: robust control -- model predictive control -- differential inequalities; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.599
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Min-max differential inequalities (DIs) can be used to characterize robust forward invariant tubes with convex cross-section for a large class of nonlinear control systems. The advantage of using set-propagation over other existing approaches for tube MPC is that they avoid the discretization of control policies. Instead, the conservatism of min-max DIs in tube MPC arises from the discretization of sets in the state-space, while the control law is never discretized and remains defined implicitly via the solution of a min-max optimization problem. The contribution of this paper is the development of a practical implementation of min-max DIs for tube MPC using ellipsoidal-tube enclosures. We illustrate these developments with a spring-mass-damper system.