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| Adaptive Model Predictive Control for Linear Systems with Parametric Uncertainties and Time Delay |
| KONG Lingren1, QI Qingyuan2
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1. Institute of Complexity Science, Qingdao University, Qingdao 266071, China;
2. Qingdao Innovation and Development Center, Harbin Engineering University, Qingdao 266000, China |
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Abstract This paper investigates the adaptive model predictive control (MPC) for a class of constrained linear multiple-input multiple-output (MIMO) systems with parametric uncertainty and input delay. An adaptive update law based on time-varying updating rate is proposed, which enables the update of uncertain parameters in the presence of input delay. Consequently, to deal with the constraints, we convert the optimization problem into a solvable simple structure, which originates from the min-max optimization. Furthermore, theoretically, it is shown that the closed-loop system is asymptotically stable and the proposed adaptive MPC strategy is proved to be recursively feasible. Finally, numerical simulation is given to illustrate the efficacy of the proposed method.
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Received: 24 April 2023
Published: 07 November 2024
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