Computationally efficient system level tube-MPC for uncertain systems

IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Jerome Sieber, Alexandre Didier, Melanie N. Zeilinger
{"title":"Computationally efficient system level tube-MPC for uncertain systems","authors":"Jerome Sieber,&nbsp;Alexandre Didier,&nbsp;Melanie N. Zeilinger","doi":"10.1016/j.automatica.2025.112466","DOIUrl":null,"url":null,"abstract":"<div><div>Tube-based model predictive control (MPC) is one of the principal robust control techniques for constrained linear systems affected by additive disturbances. While tube-based methods with online-computed tubes have been successfully applied to systems with additive disturbances, their application to systems affected by additional model uncertainties is challenging. This paper proposes a tube-based MPC method – named filter-based system level tube-MPC (SLTMPC) – which overapproximates both types of uncertainties with an online optimized disturbance set, while simultaneously computing the tube controller online. For the first time, we provide rigorous closed-loop guarantees for receding horizon control of such a MPC method. These guarantees are obtained by virtue of a new terminal controller design and an online optimized terminal set. To reduce the computational complexity of the proposed method, we additionally introduce an asynchronous computation scheme that separates the optimization of the tube controller and the nominal trajectory. Finally, we provide a comprehensive numerical evaluation of the proposed methods to demonstrate their effectiveness.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"180 ","pages":"Article 112466"},"PeriodicalIF":4.8000,"publicationDate":"2025-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automatica","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0005109825003607","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0

Abstract

Tube-based model predictive control (MPC) is one of the principal robust control techniques for constrained linear systems affected by additive disturbances. While tube-based methods with online-computed tubes have been successfully applied to systems with additive disturbances, their application to systems affected by additional model uncertainties is challenging. This paper proposes a tube-based MPC method – named filter-based system level tube-MPC (SLTMPC) – which overapproximates both types of uncertainties with an online optimized disturbance set, while simultaneously computing the tube controller online. For the first time, we provide rigorous closed-loop guarantees for receding horizon control of such a MPC method. These guarantees are obtained by virtue of a new terminal controller design and an online optimized terminal set. To reduce the computational complexity of the proposed method, we additionally introduce an asynchronous computation scheme that separates the optimization of the tube controller and the nominal trajectory. Finally, we provide a comprehensive numerical evaluation of the proposed methods to demonstrate their effectiveness.
不确定系统的高效计算系统级管- mpc
基于管的模型预测控制(MPC)是受加性扰动影响的约束线性系统的主要鲁棒控制技术之一。尽管基于在线计算管的方法已经成功地应用于具有加性扰动的系统,但将其应用于受附加模型不确定性影响的系统是具有挑战性的。本文提出了一种基于管的MPC方法,称为基于滤波器的系统级管MPC (SLTMPC),该方法通过在线优化扰动集过度逼近这两种不确定性,同时在线计算管控制器。本文首次为这种MPC方法的后退水平控制提供了严格的闭环保证。这些保证是通过新的终端控制器设计和在线优化的终端集来实现的。为了降低所提出方法的计算复杂度,我们还引入了一种异步计算方案,将管控制器的优化与标称轨迹的优化分离。最后,我们对所提出的方法进行了全面的数值评估,以证明其有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
Automatica
Automatica 工程技术-工程:电子与电气
CiteScore
10.70
自引率
7.80%
发文量
617
审稿时长
5 months
期刊介绍: Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信