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Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees

In English

Författare

Summary, in English

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.

Publiceringsår

2010

Språk

Engelska

Sidor

3644-3649

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Nyckelord

  • stability
  • Adaptive Model Predictive Control
  • sub-optimality

Conference name

49th IEEE Conference on Decision and Control

Conference date

2010-12-15

Conference place

Atlanta, Georgia, United States

Status

Published

Forskningsgrupp

  • LCCC