Filippo Badalamenti

Configuration-Constrained Tube MPC for Difference-of-Convex Nonlinear Systems

This paper develops a convex tube model predictive control formulation for constrained nonlinear systems. We consider dynamics described by a discrete-time state-space model with parametric and additive uncertainty that admits a difference-of-convex decomposition. Convex directional bounds of the nonlinear dynamics are...