Zonotope-Based Elastic Tube Model Predictive Control
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866918507139039232 |
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| author | Diaconescu, Sabin Stoican, Florin Ciubotaru, Bogdan D. Olaru, Sorin |
| author_facet | Diaconescu, Sabin Stoican, Florin Ciubotaru, Bogdan D. Olaru, Sorin |
| contents | Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance. The paper is focused on reducing the numerical complexity associated with the tube parameterization, described as a sequence of elastically-scaled zonotopic sets. A new class of scaled-zonotope inclusion conditions is proposed, alleviating the need for a priori specification of certain set-containment constraints and achieving significant reductions in complexity. A comprehensive complexity analysis is provided for both the polyhedral and the zonotopic setting, illustrating the trade-off between an enlarged domain of attraction and the required computational effort. The proposed approach is validated through extensive numerical experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_19824 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Zonotope-Based Elastic Tube Model Predictive Control Diaconescu, Sabin Stoican, Florin Ciubotaru, Bogdan D. Olaru, Sorin Systems and Control Tube-based Model Predictive Control (MPC) is a widely adopted robust control framework for constrained linear systems under additive disturbance. The paper is focused on reducing the numerical complexity associated with the tube parameterization, described as a sequence of elastically-scaled zonotopic sets. A new class of scaled-zonotope inclusion conditions is proposed, alleviating the need for a priori specification of certain set-containment constraints and achieving significant reductions in complexity. A comprehensive complexity analysis is provided for both the polyhedral and the zonotopic setting, illustrating the trade-off between an enlarged domain of attraction and the required computational effort. The proposed approach is validated through extensive numerical experiments. |
| title | Zonotope-Based Elastic Tube Model Predictive Control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.19824 |