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Indirect Adaptive MPC for Discrete-Time LTI Systems with Parametric Uncertainties
Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, India.ORCID iD: 0000-0001-6061-7860
Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, India.
2021 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 66, no 11, p. 5498-5505Article in journal (Refereed) Published
Abstract [en]

This paper addresses the problem of controlling discrete-time linear time-invariant (LTI) systems with parametric uncertainties in the presence of hard state and input constraints. A suitably designed gradient descent based indirect adaptive controller, used to handle parametric uncertainties, is combined with a model predictive control (MPC) algorithm, which guarantees constraint satisfaction. An estimated model of the actual uncertain plant is used for predictions of the future states. The parameters of the estimated model are updated using a gradient descent based adaptive update law. The errors arising due to model mismatch between the estimated plant model and the actual uncertain plant are accounted for using a constraint tightening method in the MPC algorithm. The proposed adaptive MPC strategy is proved to be recursively feasible and the closed-loop system is proved to be bounded at all instants and asymptotically converging to the origin.

Place, publisher, year, edition, pages
Piscataway, NJ, United states: Institute of Electrical and Electronics Engineers (IEEE), 2021. Vol. 66, no 11, p. 5498-5505
Keywords [en]
Model predictive control, adaptive control, constrained system, discrete-time system, uncertain LTI system
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-179690DOI: 10.1109/tac.2021.3050446Scopus ID: 2-s2.0-85099568323OAI: oai:DiVA.org:liu-179690DiVA, id: diva2:1598857
Note

Funding Agency: Visvesvaraya Ph.D. Scheme, R&D work, 10.13039/501100008628-Ministry of Electronics and Information Technology, Digital India Corporation.

Available from: 2021-09-29 Created: 2021-09-29 Last updated: 2021-11-10Bibliographically approved

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Dhar, Abhishek

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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