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Abstract der Präsentationen:

[nur in Englisch verfügbar]

Tube-based Anticipative Robust MPC for Systems with Multiplicative Uncertainty

Many control problems contain time-varying or parameter-varying dynamics. With model predictive control (MPC), it is possible to include known plant variations into the controller for improving control performance. Unfortunately, perfect knowledge of the plant is rarely available and the accurateness of models may change over time and operating points. Robust control approaches consider worst-case realizations with a static model which ensure constraint satisfaction and stability but may yield conservative performance. The control algorithm presented in this talk uses anticipative information about future uncertainties and varying models to improve control performance while ensuring stability of the system. Recursive feasibility is guaranteed using flexible polytopic tubes which account for varying uncertain models.