- Title
- Enlarged terminal sets guaranteeing stability of receding horizon control
- Creator
- De Dona, J. A.; Seron, M. M.; Mayne, D. Q.; Goodwin, G. C.
- Relation
- Systems & Control Letters Vol. 47, Issue 1, p. 57-63
- Publisher Link
- http://dx.doi.org/10.1016/S0167-6911(02)00175-5
- Publisher
- Elsevier Science Ltd.
- Resource Type
- journal article
- Date
- 2002
- Description
- 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 finite-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 finite-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.
- Subject
- constrained control; receding horizon; stability; terminal conditions
- Identifier
- uon:1470
- Identifier
- http://hdl.handle.net/1959.13/27211
- Identifier
- ISSN:0167-6911
- Full Text
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