Soft-constrained ℓasso-MPC for robust LTI tracking: Enlarged feasible region and an ISS gain estimate

@article{Gallieri2013SoftconstrainedF,
  title={Soft-constrained ℓasso-MPC for robust LTI tracking: Enlarged feasible region and an ISS gain estimate},
  author={Marco Gallieri and Jan M. Maciejowski},
  journal={52nd IEEE Conference on Decision and Control},
  year={2013},
  pages={7101-7106}
}
This paper investigates the robustness of a soft constrained LTI MPC for set-point tracking, using an ℓ1-regularised cost. The MPC using this type of cost (informally dubbed ℓasso-MPC) is suitable, for instance, for redundantly-actuated systems. This is because of its ability to select a set of preferred actuators, leaving the other ones at rest for most of the time. The proposed approach aims to recover from state constraint violation and to track a changing set-point. Nominal stability is… CONTINUE READING