Enlarged terminal sets guaranteeing stability of receding horizon control

✍ Scribed by J.A. De Doná; M.M. Seron; D.Q. Mayne; G.C. Goodwin

• Book ID: 104300509
• Publisher: Elsevier Science
• Year: 2002
• Tongue: English
• Weight: 142 KB
• Volume: 47
• Category: Article
• ISSN: 0167-6911
• DOI: 10.1016/s0167-6911(02)00175-5

✦ Synopsis

The purpose of this paper is to relax the terminal conditions typically used to ensure stability in model predictive control, thereby enlarging the domain of attraction for a given prediction horizon. Using some recent results, we present novel conditions that employ, as the terminal cost, the ÿnite-horizon cost resulting from a nonlinear controller u = -sat(Kx) and, as the terminal constraint set, the set in which this controller is optimal for the ÿnite-horizon constrained optimal control problem. It is shown that this solution provides a considerably larger terminal constraint set than is usually employed in stability proofs for model predictive control.