Optimizing Prediction Dynamics With Saturated Inputs for Robust Model Predictive Control
نویسندگان
چکیده
A model predictive control algorithm based on offline optimization of prediction dynamics enables an efficient online computation. However, the price for this efficiency is a reduction in degree optimality. This article presents new method overcoming weakness, yielding significant improvement optimality, and achieving with no increase computational load. Two numerical examples comparison to earlier solutions from literature illustrate effectiveness proposed algorithm.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2021
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2020.2979399