A Stabilizing MPC Algorithm using Performance Bounds from Saturated Linear Feedback

• We present a method to increase feasibility in MPC algorithms that use ellipsoidal terminal state constraints and performance bounds from nominal controllers. The method is based on estimating a bound on the achievable performance with a saturated nominal controller and using this bound in the MPC algorithm. The resulting MPC controller can be implemented efficiently with Second Order Cone Programming.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

MPC

Stability

LMI

Automatic control

Reglerteknik

Publikations- och innehållstyp

vet (ämneskategori)

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