Title :
Model predictive control when a local control Lyapunov function is not available
Author :
Grimm, Gene ; Messina, Michael J. ; Teel, Andrew R. ; Tuna, Sezai
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
Abstract :
This paper presents closed-loop stability results for the control of unconstrained nonlinear systems using the model predictive control methodology with semidefinite costs. The results do not require the use of a local control Lyapunov function as the terminal cost. The key assumptions are that the value function is bounded by a K∞ function of some measure of the state and that this measure is detectable through the stage cost. Sufficient conditions to yield semiglobal practical (and global) MPC stability results are given. In each case, a minimum horizon (uniform for global results) is determined for which the MPC method will result in the stabilization of a desired set.
Keywords :
closed loop systems; nonlinear control systems; predictive control; stability; K∞ function; MPC stability; closed-loop stability; minimum horizon; model predictive control; semiglobal practical; state measurement; unconstrained nonlinear systems; value function; Asymptotic stability; Control engineering; Control engineering computing; Cost function; Lyapunov method; Nonlinear control systems; Nonlinear systems; Predictive control; Predictive models; Robust stability;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1240482
