Dynamic Tube MPC simultaneously optimizes tube geometry and nominal trajectory for nonlinear systems by expressing tube dynamics via boundary layer sliding control to handle state-dependent uncertainty with low added complexity.
Robust and stochastic model predictive control: Are we going in the right direction?
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Dynamic Tube MPC for Nonlinear Systems
Dynamic Tube MPC simultaneously optimizes tube geometry and nominal trajectory for nonlinear systems by expressing tube dynamics via boundary layer sliding control to handle state-dependent uncertainty with low added complexity.