# Parallel Explicit Tube Model Predictive Control

arXiv: https://arxiv.org/abs/1910.03271 · HTML: https://mlsanity.com/paper/1910.03271/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Oct 2019.

## Built on by (most cited first, 1 of 1)

- [Approximate Robust NMPC using Reinforcement Learning](https://mlsanity.com/paper/2104.02743/) (2021)

## Abstract (arXiv)

This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by implementing a real-time algorithm that iterates between the evaluation of piecewise affine functions, corresponding to the parametric solution of small-scale robust MPC problems, and the online solution of structured equality constrained QPs. The performance of the associated real-time robust MPC controllers is illustrated by a numerical case study.