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Robust model predictive control with time-varying tubes

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  • Control Theory and Applications
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Abstract

This paper focuses on the problem of robustly stabilizing uncertain discrete-time systems subject to bounded disturbances. The proposed tube-based model predictive controller ensures that all possible realizations of the state trajectory lie in the time-varying tubes so robust stability and satisfaction of the state and input constraints are guaranteed. The time-varying tubes are computed off-line so the on-line computational time is tractable. At each sampling time, the precomputed time-varying tubes are included in the optimal control problem as the constraints in the prediction horizon and only a quadratic programming problem is solved. In comparison to the algorithm that calculates the time-varying tubes on-line, the proposed algorithm can achieve the same level of control performance while the on-line computational time is greatly reduced.

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Author information

Authors and Affiliations

  1. Department of Chemical Engineering, Faculty of Engineering, Mahidol University, Salaya, 73170, Thailand

    Pornchai Bumroongsri

  2. Department of Chemical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand

    Soorathep Kheawhom

Authors
  1. Pornchai Bumroongsri
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  2. Soorathep Kheawhom
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Corresponding author

Correspondence to Pornchai Bumroongsri.

Additional information

Recommended by Associate Editor Yingmin Jia under the direction of Editor Myo Taeg Lim. This work was supported by Mahidol University and Thailand Research Fund (TRG5880084).

Pornchai Bumroongsri was born on 31st January, 1985. He received his Bachelor of Engineering from Chulalongkorn University in 2008. He obtained his Master of Engineering and Doctor of Engineering from Chulalongkorn University in 2009 and 2012, respectively. He is currently a lecturer in the Department of Chemical Engineering, Faculty of Engineering, Mahidol University. His current interests involve robust MPC synthesis, modeling and optimization in chemical processes.

Soorathep Kheawhom is currently an Associate Professor in the Department of Chemical Engineering, Chulalongkorn University. He earned his B.Eng from Chulalongkorn University in 1997. He continued his study at the University of Tokyo where he received his M.Eng and Ph.D. in 2001 and 2004, respectively. He has been working on the use of statistics in optimization, life cycle and printed electronics.

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Bumroongsri, P., Kheawhom, S. Robust model predictive control with time-varying tubes. Int. J. Control Autom. Syst. 15, 1479–1484 (2017). https://doi.org/10.1007/s12555-016-0227-z

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  • DOI: https://doi.org/10.1007/s12555-016-0227-z

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