Robust Model Predictive Control for Controlling Fast Vehicle Dynamics

Abstract

This paper proposes a simple robust model predictive algorithm for discrete time uncertain systems having relatively fast dynamics, i.e. the time required to compute the next control action is the multiple of the sampling time. The method is based on the following concept: at time k the set of all possible k+N-th states is determined, and in the next N time steps an appropriate feedback gain is constructed, which is capable of robustly stabilizing the system from time k+N. At time k+N the procedure is then repeated. The method was derived from the robust MPC algorithm proposed by Kothare et al.,(1996)