A stable block model predictive control with variable implementation horizon

Author

Sun, Jing ; Chen, Shuhao ; Kolmanovsky, Ilya

Author_Institution

Dept. of Naval Archit. & Marine Eng., Michigan Univ., Ann Arbor, MI, USA

fYear

2005

fDate

8-10 June 2005

Firstpage

834

Abstract

In this paper, we present a stable receding horizon model predictive control for discrete-time nonlinear systems. The standard MPC scheme is modified to incorporate (1) a block implementation scheme where a string of the optimized input is applied instead of a single value; (2) an additional constraint which guarantees that a Lyapunov function decreases over time; (3) a variable implementation window that facilitates the constraints enforcement. Stability of the closed-loop system with the proposed algorithm is established. Examples and simulation results are given to illustrate the effectiveness of the control scheme. The impacts of several key design parameters on the overall performance are also analyzed and discussed.

Keywords

Lyapunov methods; closed loop systems; discrete time systems; nonlinear control systems; predictive control; stability; Lyapunov function; block model predictive control; closed-loop system; discrete-time nonlinear systems; variable implementation horizon; Constraint optimization; Control systems; Marine vehicles; Open loop systems; Predictive control; Predictive models; Sampling methods; Stability; State feedback; Sun;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470063

Filename

1470063