Configuration-Constrained Tube MPC for Tracking
<|reference_start|>Configuration-Constrained Tube MPC for Tracking: This paper proposes a novel tube-based Model Predictive Control (MPC) framework for tracking varying setpoint references with linear systems subject to additive and multiplicative uncertainties. The MPC controllers designed using this framework exhibit recursively feasible for changing references, and robust asymptotic stability for piecewise constant references. The framework leverages configuration-constrained polytopes to parameterize the tubes, offering flexibility to optimize their shape. The efficacy of the approach is demonstrated through two numerical examples. The first example illustrates the theoretical results, and the second uses the framework to design a lane-change controller for an autonomous vehicle.<|reference_end|>
@article{badalamenti2024configuration-constrained,
    title={Configuration-Constrained Tube MPC for Tracking},
    author={Filippo Badalamenti, Sampath Kumar Mulagaleti, Alberto Bemporad, Boris
  Houska, Mario Eduardo Villanueva},
    journal={arXiv preprint arXiv:2405.03629},
    year={2024},
    doi={10.1109/LCSYS.2024.3408750},
    archivePrefix={arXiv},
    eprint={2405.03629},
    primaryClass={eess.SY cs.SY math.OC}
}