Adaptive Model Predictive Control for Linear Systems with Parametric Uncertainties and Time Delay
This paper investigates the adaptive model predictive control(MPC)for a class of con-strained linear multiple-input multiple-output(MIMO)systems with parametric uncertainty and input delay.An adaptive update law based on time-varying updating rate is proposed,which ena-bles the update of uncertain parameters in the presence of input delay.Consequently,to deal with the constraints,we convert the optimization problem into a solvable simple structure,which o-riginates from the min-max optimization.Furthermore,theoretically,it is shown that the closed-loop system is asymptotically stable and the proposed adaptive MPC strategy is proved to be recursively feasi-ble.Finally,numerical simulation is given to illustrate the efficacy of the proposed method.
adaptive model predictive controlinput delayparametric uncertaintydiscrete-time system
万方数据
维普
