A Constrained Model Predictive Control (CMPC) approach for regulating blood-glucose levels in people with type 1 Diabetes is proposed. The controller uses the past suggested insulin, the subcutaneous glucose level, and an estimation of the carbohydrate amount of the future meals provided by the patient as inputs to decide the quantity of insulin to inject by a subcutaneous pump. This strategy a...

Control based on on-line optimization, popularly known as model predictive control (MPC), has long been recognized as the winning alternative for constrained sys t ems . The main limitation of MPC is, however, its on-line computat ional complexity. For discrete-time linear time-invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly the state fee...

We propose a novel approach to design robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The system is modeled as parameter varying with an additive disturbance. Set bounds the matrices and uncertainty are assumed be known. formulate optimization-based constraint tightening strategy around predicted nominal trajectory which utilizes these bounds. With appropriate...

This article addresses the problem of robust output feedback model predictive control for discrete-time, constrained, linear parameter-varying systems subject to (bounded) state and measurement disturbances. The vector scheduling parameters is assumed be an unmeasurable signal taking values in a given compact set. proposed controller incorporates interval observer, that uses available update se...

Abstract In the process of obstacle avoidance, there are some problems such as low precision and poor safety in path tracking intelligent vehicles. To solve these problems, a model prediction controller with soft constraints is designed this paper. The adopts vehicle motion model, according to radius circumcircle vehicle, anti-collision constraint condition constructed improve safety. tracks it...

Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only position and orientation but also velocities are required to controlled ensuring synchronization; additionally, control inputs constrained. On this basis, in paper, a novel synchronization controller on account model predictive (...

A powerful result from behavioral systems theory known as the fundamental lemma allows for predictive control akin to Model Predictive Control (MPC) linear time-invariant (LTI) with unknown dynamics purely data. While most data-driven literature focuses on robustness respect measurement noise, only a few works consider exploiting probabilistic information of disturbances performance-oriented in...