A Computationally Efficient Robust Model Predictive Control of Linear Parameter Varying Systems

S. Fallah, W.-F. Xie, and R. Bhat (Canada)


Robust Model Predictive Control (RMPC), Linear Parameter Varying (LPV), Linear Matrix Inequalities (LMI), Shimmy Control


A computationally efficient Robust Model Predictive Control (RMPC) law is formulated for Linear Parameter Varying (LPV) systems subject to constraints and uncertainties. To alleviate the computational load in the RMPC, we reduce the dimension of matrices in Linear Matrix Inequalities (LMI) for solving the optimal feedback control gains and hence sacrifice the optimal performance to the computational load at each step. An attempt is made to apply the proposed RMPC control strategy to suppress the shimmy during the taxiing and landing of an aircraft. Compared with two current RMPCs, the proposed shimmy controller can effectively suppress the shimmy with more efficient computation. To verify the efficiency of the proposed algorithm, the simulation results are presented and discussed.

Important Links:

Go Back