4.7 Article

Robust Model Predictive Control with Almost Zero Online Computation

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Summary: This paper investigates time optimal model predictive control (MPC) strategies by deriving controllable sets described by ellipsoids or convex polytopes offline and obtaining the control input to steer the initial state into the terminal set in the shortest time steps through online optimization. Different methods are proposed for calculating ellipsoidal controllable sets for linear time-invariant systems and linear time-varying systems, as well as a new method for calculating polytopic controllable sets for linear time-varying systems. The recursive feasibility of online optimization and stability of the closed-loop system are guaranteed. Numerical examples demonstrate the effectiveness of the algorithms.

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