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arXiv · 1910.03271

Parallel Explicit Tube Model Predictive Control

Kai Wang·Yuning Jiang·Juraj Oravec·Mario E. Villanueva·Boris Houska
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Abstract

This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by implementing a real-time algorithm that iterates between the evaluation of piecewise affine functions, corresponding to the parametric solution of small-scale robust MPC problems, and the online solution of structured equality constrained QPs. The performance of the associated real-time robust MPC controllers is illustrated by a numerical case study.

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Kai Wang, Yuning Jiang, Juraj Oravec, Mario E. Villanueva, Boris Houska. 2019-10-08. Parallel Explicit Tube Model Predictive Control. https://arxiv.org/abs/1910.03271

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