DocumentCode
2565246
Title
Adaptive Nonlinear Model Predictive Control with suboptimality and stability guarantees
Author
Giselsson, Pontus
Author_Institution
Dept. of Autom. Control LTH, Lund Univ., Lund, Sweden
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
3644
Lastpage
3649
Abstract
Theory for Adaptive Nonlinear Model Predictive Control is developed based on the relaxed dynamic programming inequality. The adaptivity in the controller lies in the choice of control horizon. The control horizon is chosen such that a variation of the relaxed dynamic programming inequality holds for all time steps along the closed loop trajectory. This provides guarantees for asymptotic stability and closed loop suboptimality above a certain pre-specified level.
Keywords
adaptive control; asymptotic stability; closed loop systems; dynamic programming; nonlinear control systems; predictive control; adaptive nonlinear model predictive control; asymptotic stability guarantees; closed loop suboptimality guarantees; closed loop trajectory; control horizon; relaxed dynamic programming inequality; Asymptotic stability; Dynamic programming; Optimization; Predictive control; Predictive models; Trajectory; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5717024
Filename
5717024
Link To Document