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Terminal constraint sets and state errors under ±0.1 noise interference. (a) Tube RMPC. (b) Single-tube RMPC.
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This paper aims to solve the problem of the robust model predictive control, the contradiction of the system robustness, and the conservative terminal constraint set range. A robust model predictive control (RMPC) method based on an ε-approximation single-tube set is proposed. We construct a single-tube RMPC structure for linear discrete time invar...
Contexts in source publication
Context 1
... random white noise with an amplitude of ±0.1 was set as the state interference. The system error convergence comparison results and simulation output are shown in Figures 3 and 4. Figure 3a shows that the tube contained the nominal MPC state, the estimated system state, and the actual system state, which ensured the stability of the system. ...
Context 2
... random white noise with an amplitude of ±0.1 was set as the state interference. The system error convergence comparison results and simulation output are shown in Figures 3 and 4. Figure 3a shows that the tube contained the nominal MPC state, the estimated system state, and the actual system state, which ensured the stability of the system. As shown by the convergence of the error states in Figure 3b, the actual system error states were contained in the single-tube terminal constraint set. ...
Context 3
... system error convergence comparison results and simulation output are shown in Figures 3 and 4. Figure 3a shows that the tube contained the nominal MPC state, the estimated system state, and the actual system state, which ensured the stability of the system. As shown by the convergence of the error states in Figure 3b, the actual system error states were contained in the single-tube terminal constraint set. The center of the set was the nominal MPC state, which was stabilized around the origin. ...
Context 4
... 6 presents the precision comparison of the sine wave tracking and the step response, and the simulation results showed that the ±0.1 sine interference could be effectively inhibited. Combined with the above simulation results in Figures 3-6, since there was no outof-range interference in the system, we demonstrated that both the TRMPC method and the proposed method could suppress the noise and sine interference within the constraint range. According to Figures 4 and 6, the proposed method had a better step response and sine wave tracking performance. ...
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