Parallel Explicit Tube Model Predictive Control

TL;DR

This paper introduces a parallel algorithm for tube-based model predictive control that efficiently solves robust MPC problems by exploiting their structure, enabling real-time implementation and improved robustness.

Contribution

It presents a novel parallel algorithm that solves robust MPC problems suboptimally but efficiently, leveraging problem structure for real-time control.

Findings

Effective real-time robust MPC control demonstrated

Parallel algorithm reduces computation time

Structured approach improves robustness and efficiency

Abstract

This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by implementing a real-time algorithm that iterates between the evaluation of piecewise affine functions, corresponding to the parametric solution of small-scale robust MPC problems, and the online solution of structured equality constrained QPs. The performance of the associated real-time robust MPC controllers is illustrated by a numerical case study.