Robust tube MPC using gain-scheduled policies for a class of LPV systems
This paper presents a method for robust model predictive control (MPC) of linear parameter varying (LPV) systems considering control policies that are affine functions of the parameter, which is possible when only the ‘A’ and not the ‘B’ matrix depends on the uncertain parameter (LPV-A systems). Thi...
| Автори: | , , |
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| Формат: | Conference item |
| Мова: | English |
| Опубліковано: |
IEEE
2024
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| _version_ | 1826317542384205824 |
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| author | Fleming, J Hawari, Q Cannon, M |
| author_facet | Fleming, J Hawari, Q Cannon, M |
| author_sort | Fleming, J |
| collection | OXFORD |
| description | This paper presents a method for robust model
predictive control (MPC) of linear parameter varying (LPV)
systems considering control policies that are affine functions
of the parameter, which is possible when only the ‘A’ and not
the ‘B’ matrix depends on the uncertain parameter (LPV-A
systems). This is less conservative than formulations in which
the policy is restricted to perturbations on a feedback law,
as it includes such policies as a special case. State and input
constraints are handled efficiently by bounding predicted states
in a sequence of polyhedra (i.e. tube MPC), that are parameterised by variables in the online optimisation. The resulting
controller can be implemented by online solution of a single
quadratic programming problem and can exploit rate bounds
on the LPV parameters, which requires a pre-processing step
at each iteration. Recursive feasibility and exponential stability
are proven and the approach is compared to existing methods
in numerical examples drawn from other publications, showing
reduced conservatism and improved regions of attraction. |
| first_indexed | 2024-09-25T04:32:14Z |
| format | Conference item |
| id | oxford-uuid:a40169d1-0f41-4845-ad0d-22dfcf9f2ecf |
| institution | University of Oxford |
| language | English |
| last_indexed | 2025-03-11T16:55:33Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:a40169d1-0f41-4845-ad0d-22dfcf9f2ecf2025-02-20T10:41:11ZRobust tube MPC using gain-scheduled policies for a class of LPV systemsConference itemhttp://purl.org/coar/resource_type/c_5794uuid:a40169d1-0f41-4845-ad0d-22dfcf9f2ecfEnglishSymplectic ElementsIEEE2024Fleming, JHawari, QCannon, MThis paper presents a method for robust model predictive control (MPC) of linear parameter varying (LPV) systems considering control policies that are affine functions of the parameter, which is possible when only the ‘A’ and not the ‘B’ matrix depends on the uncertain parameter (LPV-A systems). This is less conservative than formulations in which the policy is restricted to perturbations on a feedback law, as it includes such policies as a special case. State and input constraints are handled efficiently by bounding predicted states in a sequence of polyhedra (i.e. tube MPC), that are parameterised by variables in the online optimisation. The resulting controller can be implemented by online solution of a single quadratic programming problem and can exploit rate bounds on the LPV parameters, which requires a pre-processing step at each iteration. Recursive feasibility and exponential stability are proven and the approach is compared to existing methods in numerical examples drawn from other publications, showing reduced conservatism and improved regions of attraction. |
| spellingShingle | Fleming, J Hawari, Q Cannon, M Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title | Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title_full | Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title_fullStr | Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title_full_unstemmed | Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title_short | Robust tube MPC using gain-scheduled policies for a class of LPV systems |
| title_sort | robust tube mpc using gain scheduled policies for a class of lpv systems |
| work_keys_str_mv | AT flemingj robusttubempcusinggainscheduledpoliciesforaclassoflpvsystems AT hawariq robusttubempcusinggainscheduledpoliciesforaclassoflpvsystems AT cannonm robusttubempcusinggainscheduledpoliciesforaclassoflpvsystems |