DocumentCode :
700670
Title :
A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
Author :
Chen, H. ; Allgower, F.
Author_Institution :
Inst. fur Systemdynamik und Regelungstech., Univ. Stuttgart, Stuttgart, Germany
fYear :
1997
fDate :
1-7 July 1997
Firstpage :
1421
Lastpage :
1426
Abstract :
We present in this paper a novel nonlinear model predictive control scheme that guarantees closed-loop stability. The scheme can be applied to both stable and unstable systems with input constraints. The objective functional to be minimized consists of an integral square error (ISE) part over a finite time horizon plus a quadratic terminal cost. The terminal state penalty matrix of the terminal cost term has to be chosen as the solution of an appropriate Lyapunov equation. Furthermore, the setup includes a terminal inequality constraint that forces the states at the end of the finite horizon to lie within a prescribed terminal region. If the Jacobian linearization of the nonlinear system to be controlled is stabilizable, we prove that feasibility of the open-loop optimal control problem at time t = 0 implies asymptotic stability of the closed-loop system. The size of the region of attraction is only restricted by the requirement for feasibility of the optimization problem due to the input and terminal inequality constraints and is thus maximal in some sense.
Keywords :
asymptotic stability; closed loop systems; infinite horizon; linearisation techniques; matrix algebra; nonlinear control systems; open loop systems; optimal control; optimisation; predictive control; ISE part; Jacobian linearization; Lyapunov equation; asymptotic stability; closed-loop stability; finite time horizon; input constraints; integral square error part; nonlinear system; open-loop optimal control problem; optimization problem; quadratic terminal cost; quasiinfinite horizon nonlinear model predictive control scheme; stable systems; terminal inequality constraint; terminal state penalty matrix; unstable systems; Asymptotic stability; Closed loop systems; Jacobian matrices; Optimization; Stability analysis; State feedback; Nonlinear model predictive control; constrained system; stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
Type :
conf
Filename :
7082300
Link To Document :
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