Seminar on
Applied Mathematics
PROGRAM
Utorak, 27.09.2011. u 14:15, Sala 301f, MI SANU:
Sasa V. Rakovic, Institute for Automation Engineering,
Otto-von-Guericke-Universitat, Magdeburg and Department of
Engineering Sciences of the University of Oxford, UK
A STEP BEYOND THE STATE OF THE ART ROBUST MODEL
PREDICTIVE CONTROL SYNTHESIS METHODS
Abstract: The talk is concerned with a novel robust model
predictive control synthesis method termed parameterized tube
model predictive control. This novel proposal supersedes the state
of the art robust model predictive control algorithms including
the several generations of tube model predictive control as well
as robust model predictive control utilizing the so.called
disturbance affine control policy. Our method allows uniquely for
simultaneous online optimization of state and control tubes as
well as the corresponding control policy via single
linear/quadratic programme. The employed parameterization of the
state and control tubes and the associated induced control policy
offers greater generality compared to competing methods while it
retains the desirable degree of computational tractability. Under
rather mild and natural assumptions, the proposed parameterized
tube model predictive control provides a.priori guarantees of the
desirable strong system theoretic properties including relevant
set invariance and robust stability properties. We also deliver
several illustrative examples demonstrating clear advantages over
the state of the art robust model predictive control synthesis
methods.
Keywords: Robust Model Predictive Control, Tube
Model Predictive Control, Repetitive Decision Making Processes.
Presenter's Information: Sasa V. Rakovic received the PhD degree
in Control Theory from Imperial College London. His PhD thesis,
entitled "Robust Control of Constrained Discrete Time Systems:
Characterization and Implementation", was awarded the Eryl Cadwaladr
Davies Prize as the best PhD thesis in the Electrical and Electronic
Engineering Department of Imperial College London in 2005. He held
posts of a Research Associate at Imperial College London and a
Postdoctoral Researcher at the ETH Zurich. He is currently a Scientific
Associate at the Institute for Automation Engineering, Otto-von-Guericke
-Universitat Magdeburg and a Visiting Academic Fellow at the Department of
Engineering Sciences of the University of Oxford, UK. His main
research interests and contributions lie within the areas of
control synthesis and analysis as well as decision making under
constraints and uncertainty.
RUKOVODIOCI SEMINARA
Vera Kovačević-Vujčić
Milan Dražić