Disturbance feedback-based model predictive control in uncertain dynamic environments

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Original languageEnglish
Pages (from-to)146-152
Number of pages7
JournalIFAC-PapersOnLine
Volume58
Issue number18
Early online date25 Sept 2024
Publication statusPublished - 2024
Event8th IFAC Conference on Nonlinear Model Predictive Control, NMPC 2024 - Kyoto, Japan
Duration: 21 Aug 202424 Aug 2024

Abstract

This paper presents a robust MPC scheme for linear systems subject to time-varying, uncertain constraints that arise from uncertain environments. The predicted input sequence is parameterized over future environment states to guarantee constraint satisfaction despite an imprecise environment prediction and unknown evolution of the future constraints. We provide theoretical guarantees for recursive feasibility and asymptotic convergence. Finally, a brief simulation example showcases our results.

Keywords

    Disturbance Feedback, Model Predictive Control, Time-Varying Constraints

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Cite this

Disturbance feedback-based model predictive control in uncertain dynamic environments. / Buschermöhle, Philipp; Jouini, Taouba; Lilge, Torsten et al.
In: IFAC-PapersOnLine, Vol. 58, No. 18, 2024, p. 146-152.

Research output: Contribution to journalConference articleResearchpeer review

Buschermöhle P, Jouini T, Lilge T, Müller MA. Disturbance feedback-based model predictive control in uncertain dynamic environments. IFAC-PapersOnLine. 2024;58(18):146-152. Epub 2024 Sept 25. doi: 10.48550/arXiv.2404.09893, 10.1016/j.ifacol.2024.09.023
Buschermöhle, Philipp ; Jouini, Taouba ; Lilge, Torsten et al. / Disturbance feedback-based model predictive control in uncertain dynamic environments. In: IFAC-PapersOnLine. 2024 ; Vol. 58, No. 18. pp. 146-152.
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AU - Jouini, Taouba

AU - Lilge, Torsten

AU - Müller, Matthias A.

N1 - Publisher Copyright: Copyright © 2024 The Authors.

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