Essays about: "Tube MPC"

Found 2 essays containing the words Tube MPC.

1. 1. Distributed Robust Model Predictive Control of Multiagent Systems

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Adrian Samuel Wiltz; [2020]
   Keywords : ;

   Abstract : In this thesis, a distributed model predictive controller (MPC) is developed forthe formation control problem of continuous-time multiagent systems subject tostate constraints, coupling state constraints and input constraints, where all agentssolve their respective local optimization problem in parallel. As coupling stateconstraints, connectivity and collision avoidance constraints are regarded in particular. READ MORE

3. 2. Robust Model Predictive Control for Marine Vessels

   University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Author : Allan Andre do Nascimento; [2018]
   Keywords : Robust control; Tube MPC; marine vessel control; Robust kontroll; Tube MPC; fartygskontroll;

   Abstract : This master thesis studies the implementation of a Robust MPC controllerin marine vessels on different tasks. A tube based MPC is designed based onsystem linearization around the target point guaranteeing local input to statestability of the respective linearized version of the original nonlinear system. READ MORE