Stability and Incremental Improvement of Suboptimal MPC Without Terminal Constraints
The stability of suboptimal model predictive control (MPC) without terminal constraints is investigated for continuous-time nonlinear systems under input constraints. Exponential stability and decay of the optimization error are guaranteed if the number of optimization steps in each sampling instant...
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| Published in | IEEE transactions on automatic control Vol. 55; no. 11; pp. 2576 - 2580 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York, NY
IEEE
01.11.2010
Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0018-9286 1558-2523 |
| DOI | 10.1109/TAC.2010.2057912 |
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| Abstract | The stability of suboptimal model predictive control (MPC) without terminal constraints is investigated for continuous-time nonlinear systems under input constraints. Exponential stability and decay of the optimization error are guaranteed if the number of optimization steps in each sampling instant satisfies a lower bound that depends on the convergence ratio of the underlying optimization algorithm. The decay of the optimization error shows the incremental improvement of the suboptimal MPC scheme. |
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| AbstractList | The stability of suboptimal model predictive control (MPC) without terminal constraints is investigated for continuous-time nonlinear systems under input constraints. Exponential stability and decay of the optimization error are guaranteed if the number of optimization steps in each sampling instant satisfies a lower bound that depends on the convergence ratio of the underlying optimization algorithm. The decay of the optimization error shows the incremental improvement of the suboptimal MPC scheme. |
| Author | Graichen, K Kugi, A |
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| Keywords | Lower bound Suboptimal control Control system analysis Control Lyapunov function (CLF) Non linear control Continuous time optimal control problem (OCP) Dynamical system Exponential stability Non linear system Optimization model predictive control (MPC) Model predictive control Optimal control Sampling Lyapunov function |
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| SubjectTerms | Applied sciences Asymptotic stability Automatic control Computer science; control theory; systems Control Lyapunov function (CLF) Control system analysis Control theory. Systems Convergence Cost function Decay Dynamical systems Errors Exact sciences and technology Iterative methods model predictive control (MPC) Nonlinear systems Optimal control optimal control problem (OCP) Optimization Predictive control Predictive models Sampling Sampling methods Stability Terminal constraints |
| Title | Stability and Incremental Improvement of Suboptimal MPC Without Terminal Constraints |
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