Robust variable horizon model predictive control for vehicle maneuvering

AG Richards, JP How

Research output: Contribution to journalArticle (Academic Journal)peer-review

115 Citations (Scopus)


This paper provides a new method of robust maneuver control with guaranteed finite-time arrival and satisfaction of constraints, despite the action of an unknown but bounded disturbance. The new method extends the constraint tightening approach to robust model predictive control of constrained linear systems by combining it with a variable horizon. This relaxes the requirement for the target to be an invariant set, which is assumed by many stabilizing MPC formulations but can be restrictive in vehicle maneuvering applications. The target sets for vehicle maneuvers are typically determined by the mission requirements and are not generally invariant sets. The new controller guarantees finite-time arrival within an arbitrary target set, i.e. not necessarily invariant, and is therefore applicable when the target is predetermined by other factors. Several simulation examples are presented including spacecraft rendezvous control with sensor visibility constraints and UAV guidance through obstacle fields
Translated title of the contributionRobust variable horizon model predictive control for vehicle maneuvering
Original languageEnglish
Pages (from-to)333 - 351
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Volume16 (7)
Publication statusPublished - May 2006

Bibliographical note

Publisher: Wiley


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