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Collective Tube MPC With Distribution-Free Joint Safety Certificates

US & West ·

The paper develops collective tube MPC, where the calibrated uncertainty object is the entire finite-horizon prediction-error trajectory rather than separate events combined by a union bound. A reusable trajectory tube is calibrated offline, its cross-sections define online Pontryagin tightenings, and the certified violation event is a fresh prediction-error trajectory leaving the tube.

Why it matters

The approach aligns safety certificates with the recursive-feasibility logic of tube MPC, which matters for reliable control of constrained systems.

Relevant to DT products

Original headline
Collective Tube Model Predictive Control With Distribution-Free Joint Safety Certificates
Read the original: arXiv — Systems and Control (eess.SY)

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