Stochastic Model Predictive Control Using Simplified Affine Disturbance Feedback for Chance-Constrained Systems

摘要

This letter covers the model predictive control of linear discrete-time systems subject to stochastic additive disturbances and chance constraints on their state and control input. We propose a simplified control parameterization under the framework of affine disturbance feedback, and we show that our method is equivalent to parameterization over the family of state feedback policies. Using our method, associated finite-horizon optimization can be computed efficiently, with a slight increase in conservativeness compared with conventional affine disturbance feedback parameterization.