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Blocking Parameterizations for Improving the Computational Tractability of Affine Disturbance Feedback MPC Problems

Author(s):

F. Oldewurtel
Conference/Journal:

Conference on Decision and Control (CDC), Shanghai, China
Abstract:

Many model predictive control (MPC) schemes suffer from high computational complexity. Especially robust MPC schemes, which explicitly account for the effects of disturbances, can result in computationally intractable problems. So-called move-blocking is an effective method of reducing the computational complexity of MPC problems. Unfortunately move-blocking precludes the use of terminal constraints as a means of enforcing strong feasibility of MPC problems. Thus move-blocking MPC has traditionally been employed without rigorous guarantees of constraint satisfaction. A method for enforcing strong feasibility of nominal move-blocking MPC problems was recently developed. The contribution of this paper is to generalize this method and employ it for the purpose of enforcing strong feasibility of move-blocking affine disturbance feedback robust MPC problems. Furthermore the effectiveness of different disturbance-feedback blocking strategies is investigated by means of a numerical example.

Year:

2009
Type of Publication:

(06)Talk
Supervisor:



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