New Methods for Computing the Terminal Cost for Min-max Model Predictive Control

M. Lazar, D. Munoz de la Pena, W.P.M.H. Heemels, T. Alamo

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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Abstract

The aim of this paper is to provide new techniques for computing a terminal cost and a local state-feedback control law that satisfy recently developed min-max MPC input-to-state stabilization conditions. Min-max MPC algorithms based on both quadratic and 1-norms or infin-norms costs are considered. Compared to existing approaches, the proposed techniques can be applied to linear systems affected simultaneously by time-varying parametric uncertainties and additive disturbances. The resulting MPC cost function is continuous, convex and bounded, which is desirable from an optimization point of view. Regarding computational complexity aspects, the developed techniques employ linear matrix inequalities in the case of quadratic MPC cost functions and, norm inequalities in the case of MPC cost functions defined using 1-norms or infin-norms. The effectiveness of the developed methods is illustrated for an active suspension application example.
Original languageEnglish
Title of host publicationProceedings of the 2007 American Control Conference (ACC 2007) 9-13 July 2007, New York, New York, USA
Place of PublicationPiscataway, New Jersey, USA
PublisherInstitute of Electrical and Electronics Engineers
Pages4476-4481
ISBN (Print)1-4244-0988-8
DOIs
Publication statusPublished - 2007
Event2007 American Control Conference (ACC 2007), July 11-13, 2007, New York, NY, USA - Marriott Marquis Hotel at Times Square, New York, NY, United States
Duration: 11 Jul 200713 Jul 2007
http://acc2007.a2c2.org/

Conference

Conference2007 American Control Conference (ACC 2007), July 11-13, 2007, New York, NY, USA
Abbreviated titleACC 2007
CountryUnited States
CityNew York, NY
Period11/07/0713/07/07
Internet address

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