Design on terminal constraint sets for ellipsoidal tube-based output feedback robust MPC
PENG Dan-hua
LI Xiang-ning
PING Xu-bin
Abstract：For constrained linear time-invariant systems with bounded disturbances and noises,this paper investigates the design methods on terminal constraint sets for ellipsoidal tube-based output feedback robust model predictive control(RMPC).For the off-line terminal constraint sets,by constructing the invariant set for the closed-loop nominal system,and imposing the constraints of upper bounds on terminal constraint sets,different sizes of terminal constraint sets are designed.For the on-line terminal constraint sets,real-time optimized and scaled terminal constraint sets are respectively considered.In the on-line output feedback RMPC optimization,the real-time estimation errors and control errors are constrained within time-varying robust positively invariant sets,and the nominal control input sequence is receding horizon optimized to steer the nominal system state to converge into different types of terminal constraint sets.Furthermore,the impacts of different types of terminal constraint sets on the computational burden,feasibility,and the control performance of the on-line output feedback RMPC optimizations are compared and analyzed.
Keywords：model predictive controloutput feedbackrobust controlterminal constraint set
Publication Date：2025-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1303-1312 )