Model Predictive Control for Linear Uncertain Systems Using Integral Quadratic Constraints
نویسندگان
چکیده
In this work, we propose a tube-based model predictive control (MPC) scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by integral quadratic constraints (IQCs). particular, extend the framework of $\rho$ -hard IQCs exponential stability analysis external inputs. This result yields that error between true uncertain system nominal prediction is bounded an exponentially stable scalar system. proposed MPC scheme, state bounding predicted along with used as scaling parameter tube size. We prove method achieves robust constraint satisfaction input-to-state despite additive disturbances. A numerical example demonstrates reduced conservatism IQC approach compared state-of-the-art approaches uncertainties.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2023
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2022.3171410