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Hewing, Lukas; Zeilinger, Melanie N.
IEEE control systems letters, 2020-April, 2020-4-00, Letnik: 4, Številka: 2Journal Article
This letter presents a stochastic model predictive control approach (MPC) for linear discrete-time systems subject to unbounded and correlated additive disturbance sequences, which makes use of the scenario approach for offline computation of probabilistic reachable sets. These sets are used in a tube-based MPC formulation, resulting in low computational requirements. Using a recently proposed MPC initialization scheme and nonlinear tube controllers, we provide recursive feasibility and closed-loop chance constraint satisfaction, as well as hard input constraint guarantees, which are typically challenging in tube-based formulations with unbounded noise. The approach is demonstrated in simulation for the control of an overhead crane system.
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