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.
The approach aligns safety certificates with the recursive-feasibility logic of tube MPC, which matters for reliable control of constrained systems.
Translation and summary are machine-generated from the source. The full article is not republished; its rights belong to the source.
