Title: Robust dynamic programming for min-max model predictive control of constrained uncertain systems
Authors: Diehl, Moritz ×
Bjornberg, J #
Issue Date: Dec-2004
Publisher: Ieee-inst electrical electronics engineers inc
Series Title: IEEE Transactions on automatic control vol:49 issue:12 pages:2253-2257
Abstract: We address min-max model predictive control (MPC) for uncertain discrete-time systems by a robust dynamic programming approach, and develop an algorithm that is suitable for linearly cons trained polytopic systems with piecewise affine cost functions. The method uses polyhedral representations of the cost-to-go functions and feasible sets, and performs multiparametric programming by a duality based approach in each recursion step. We show how to apply the method to robust MPC, and give conditions guaranteeing closed loop stability. Finally, we apply the method to a tutorial example, a parking car with uncertain mass.
ISSN: 0018-9286
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Electrical Engineering - miscellaneous
× corresponding author
# (joint) last author

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