Robust Variable Horizon MPC with Move Blocking
Shekhar R.C. and Maciejowski J.M.
Systems and Control Letters, Volume 61, Number 4, Pages 587-594, April 2012Abstract
This paper introduces a new formulation of variable horizon model predictive control (VH-MPC) that utilises move blocking for reducing computational complexity. Various results pertaining to move blocking are derived, following which, a generalised blocked VH-MPC controller is formulated for linear discrete-time systems. Robustness to bounded disturbances is ensured through the use of tightened constraints. The resulting time-varying control scheme is shown to guarantee robust recursive feasibility and finite-time completion. An example is then presented for a particular choice of blocking regime, as would be applicable to vehicle manœuvring problems. Simulations demonstrate the efficacy of the formulation.
BibTex Entry
- @Article{,
- author = {Shekhar R.C. and Maciejowski J.M.},
- journal = {Systems and Control Letters},
- title = {Robust Variable Horizon MPC with Move Blocking},
- year = {2012},
- month = {April},
- number = {4},
- pages = {587-594},
- volume = {61}
- }
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