Stability and Incremental Improvement of Suboptimal MPC Without Terminal Constraints

被引：103

作者：

Graichen, Knut ^{[1
]}

Kugi, Andreas ^{[2
]}

机构：

[1] Univ Ulm, Inst Measurement Control & Microtechnol, D-89069 Ulm, Germany

[2] Vienna Univ Technol, Automat & Control Inst, A-1040 Vienna, Austria

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2010年 / 55卷 / 11期

关键词：

Control Lyapunov function (CLF); model predictive control (MPC); optimal control problem (OCP); MODEL-PREDICTIVE CONTROL; RECEDING-HORIZON CONTROL; NONLINEAR-SYSTEMS; FRAMEWORK; SCHEME;

D O I：

10.1109/TAC.2010.2057912

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2576 / 2580

页数：5

共 25 条

[1]

Allgower F., 1999, Advances in Control. Highlights of ECC'99, P391

[2] ON RECEDING HORIZON FEEDBACK-CONTROL [J].