The Implicit Rigid Tube Model Predictive Control

TL;DR

This paper introduces a computationally efficient reformulation of the rigid tube model predictive control that leverages implicit set representations, eliminating the need for explicit set algebra and simplifying implementation.

Contribution

It presents a novel implicit set-based formulation of rigid tube MPC that enhances computational efficiency and ease of implementation.

Findings

Reduces computational complexity of rigid tube MPC

Eliminates explicit set algebra operations

Compatible with standard optimization solvers

Abstract

A computationally efficient reformulation of the rigid tube model predictive control is developed. A unique feature of the derived formulation is the utilization of the implicit set representations. This novel formulation does not require any set algebraic operations to be performed explicitly, and its implementation requires merely the use of the standard optimization solvers.