Tube-Based MPC for LPV Systems With External Disturbances Using Interval Predictors

In this article, tube-based model predictive control (MPC) is investigated for a linear parameter-varying (LPV) system with external disturbances. The LPV system comes from an autonomous vehicle with external disturbances and scheduling parameters in trajectory tracking. An interval predictor is designed for state constraints under external disturbances and scheduling parameters. With a robust controller based on the nominal state obtained by solving MPC, antidisturbance ability and dynamic performance are improved for the LPV system with external disturbances. Both recursive feasibility and input-to-state stability are analyzed for the closed-loop system using the tube-based MPC with the interval predictor. The effectiveness of the tube-based MPC is shown by numerical simulation on trajectory tracking for the autonomous vehicle.