Online robust tube-based MPC for time-varying systems: a practical approach

• Published in: International journal of control Vol. 84; no. 6; pp. 1157 - 1170
• Main Authors: Gonzalez, R., Fiacchini, M., Alamo, T., Guzman, J.L., Rodriguez, F.
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis Group 01.06.2011; Taylor & Francis; Taylor & Francis Ltd
• Subjects: Adaptative systems; Applied sciences; Computer science; control theory; systems; Control system synthesis; Control theory. Systems; Dynamical Systems; Exact sciences and technology; invariant sets; LMI; Mathematics; mobile robots; model predictive control; Modelling and identification; Optimal control; reachable sets; Robots; robust control; Studies; reachable sets; Control program; LMI; Invariant set; Dynamical system; mobile robots; Reachability analysis; Adaptive control; Reachability; invariant sets; Robust control; Model predictive control; Time varying system; Minimum time; Uncertain system; Discrete time; Linear matrix inequality; Robustness; System identification; Execution time; model predictive control; robust control
• ISSN: 0020-7179; 1366-5820
• DOI: 10.1080/00207179.2011.594093

This article focuses on the design of a robust model predictive control law for constrained discrete-time time-varying systems with additive uncertainties. The proposed solution to the control problem is a tube-based MPC ensuring robustness and constraints fulfilment. Reachable sets are calculated online taking into account the system dynamics by means of an adaptive local control law and additive uncertainties. The proposed method represents a trade-off between small conservativeness and efficient real-time execution. This approach is applied to solve the trajectory tracking problem of a mobile robot. Simulation results provide a comparison between the tube-based MPC scheme and established motion control algorithms, showing the efficient execution and satisfactory behaviour of the proposed controller.