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Title: Approximate robust dynamic programming and robustly stable MPC
Authors: Bjornberg, J ×
Diehl, Moritz #
Issue Date: May-2006
Publisher: Pergamon-elsevier science ltd
Series Title: Automatica vol:42 issue:5 pages:777-782
Abstract: We present a technique for approximate robust dynamic programming that is suitable for linearly constrained polytopic systems with piecewise affine cost functions. The approximation method uses polyhedral representations of the cost-to-go function and feasible set, and can considerably reduce the computational burden compared to recently proposed methods for exact robust dynamic programming [Bemporad, A., Borrelli, F., & Morari, M. (2003). Min-max control of constrained uncertain discrete-time linear systems. IEEE Transactions on Automatic Control, 48(9), 1600-1606; Diehl, M., & Bjornberg, J. (2004). Robust dynamic programming for min-max model predictive control of constrained uncertain systems. IEEE Transactions on Automatic Control, 49(12), 2253-2257]. We show how to apply the method to robust MPC, and give conditions that guarantee closed-loop stability. We finish by applying the method to a state constrained tutorial example, a parking car with uncertain mass. (c) 2006 Elsevier Ltd. All rights reserved.
URI: 
ISSN: 0005-1098
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Electrical Engineering - miscellaneous
× corresponding author
# (joint) last author

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