Robust Tube Mpc

Overview

Robust Model Predictive Control (MPC) using Tube is an innovative approach designed to enhance control systems by accommodating uncertainties. This technique employs a tube around a nominal trajectory and ensures that the control inputs remain within defined constraints, which leads to a more resilient performance in dynamic environments. The repository provides insightful examples of both tube-MPC and generic MPC implemented in MATLAB, targeting engineers and researchers focused on advanced control strategies.

Exploring the intricacies of tube-MPC reveals its potential for real-time applications, making it a vital tool for developers looking to improve system reliability. With comprehensive documentation and illustrative examples, users can seamlessly navigate the complexities of model predictive control.

Features

• Tube-MPC Implementation: Provides an efficient method for robust control by maintaining a tube around the nominal trajectory, allowing for flexibility amidst uncertainties.

• Example Codes: Includes practical examples in example/example_tubeMPC.m and example/example_MPC.m, making it easy for users to understand the implementation.

• Convex Set Constraints: Utilizes convex sets to express constraints, enhancing the complexity management of state and input limitations.

• Disturbance Invariant Set Calculation: Employs an analytical method for computing the disturbance invariant set, vital for ensuring the system remains robust against various disturbances.

• Maximal Positively Invariant Set Integration: Integrates the maximal positively invariant set as a terminal constraint, which is crucial for optimal control outcomes.

• Accessible Community Feedback: The repository encourages users to provide feedback, report bugs, and engage with the community for enhanced collaborative development.

• MATLAB Compatibility: Built using MATLAB, leveraging its powerful control and optimization toolboxes that are essential for implementing advanced control algorithms.

• Open Source Resource: The Multi-Parametric Toolbox 3 is included as an open-source resource, promoting a collaborative environment for researchers and developers in control engineering.