Tube-MPC method via estimation for flexible hypersonic vehicle with input delay

In this paper, a novel tube model predictive control (Tube-MPC) method is proposed for flexible hypersonic vehicle with input delay. Firstly, input delay is approached and identified by all-pole approximation and gradient estimation methods respectively. Secondly, the polytopic linear parameter-varying (LPV) model is established. On the basis, the Tube-MPC controller is designed to handle input delay and parameter uncertainty using the predictive state over the delay period. For the bounded predictive error resulted from the delay estimation error, the nominal controller of Tube-MPC is updated by redesigning the invariant set based on the baseline controller. Then, the stability of the closed-loop system is guaranteed. Finally, the simulation results verify the proposed method's effectiveness for flexible hypersonic vehicle with input delay.