Data-driven distributionally robust MPC: An indirect feedback approach

C Mark, S Liu - arXiv preprint arXiv:2109.09558, 2021 - arxiv.org
arXiv preprint arXiv:2109.09558, 2021arxiv.org
This paper presents a distributionally robust stochastic model predictive control (SMPC)
approach for linear discrete-time systems subject to unbounded and correlated additive
disturbances. We consider hard input constraints and state chance constraints, which are
approximated as distributionally robust (DR) Conditional Value-at-Risk (CVaR) constraints
over a Wasserstein ambiguity set. The computational complexity is reduced by resorting to a
tube-based MPC scheme with indirect feedback, such that the error scenarios can be …
This paper presents a distributionally robust stochastic model predictive control (SMPC) approach for linear discrete-time systems subject to unbounded and correlated additive disturbances. We consider hard input constraints and state chance constraints, which are approximated as distributionally robust (DR) Conditional Value-at-Risk (CVaR) constraints over a Wasserstein ambiguity set. The computational complexity is reduced by resorting to a tube-based MPC scheme with indirect feedback, such that the error scenarios can be sampled offline. Recursive feasibility is guaranteed by softening the CVaR constraint. The approach is demonstrated on a four-room temperature control example.
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