Robust variable-horizon MPC with adaptive terminal constraints

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are considered and a tube-based MPC approach is adopted. The main...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 179; p. 112465
Main Authors Quartullo, Renato, Bianchini, Gianni, Garulli, Andrea, Giannitrapani, Antonio
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.09.2025
Subjects
Orbital rendezvous
Robust control
Tube-based MPC
Variable-horizon MPC
Robust control
Orbital rendezvous
Tube-based MPC
Variable-horizon MPC
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ISSN0005-1098
DOI10.1016/j.automatica.2025.112465

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Summary:This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are considered and a tube-based MPC approach is adopted. The main contribution is an adaptive mechanism for choosing the terminal constraint set sequence in the MPC optimization problem. This mechanism is designed to ensure recursive feasibility while promoting minimization of the final distance to the target. Finite-time convergence of the proposed control scheme is proven. In order to evaluate its effectiveness, the designed control law is tested through numerical simulations, including a case study involving orbital rendezvous of a satellite with a tumbling object. The results indicate a significant reduction in conservatism compared to existing state-of-the-art methods using a fixed terminal set sequence.
ISSN:0005-1098
DOI:10.1016/j.automatica.2025.112465