ADAPTIVE ROBUST MPC: AN EYE TOWARDS COMPUTATIONAL SIMPLICITY

This work addresses the challenging problem of constrained adaptive stabilization of a general nonlinear system involving affine parametric uncertainty. The approach is based upon a recently proposed methodology for unifying adaptive and model-predictive control, which involves the incorporation of set-valued adaptation into a robust-MPC framework. The contribution of this work is to demonstrate that this methodology is compatible with, and can improve upon the performance of, even the most simplistic tools for robust-MPC. This motivates the conclusion that any tradeoff between conservativeness and performance of the adaptive control can be achieved by appropriate selection of the underlying robust controller.