Disturbance feedback-based model predictive control in uncertain dynamic environments
CoRR(2024)
Abstract
This paper presents a robust MPC scheme for linear systems subject to
time-varying, uncertain constraints that arise from uncertain environments. The
predicted input sequence is parameterized over future environment states to
guarantee constraint satisfaction despite an imprecise environment prediction
and unknown evolution of the future constraints. We provide theoretical
guarantees for recursive feasibility and asymptotic convergence. Finally, a
brief simulation example showcases our results.
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