Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees

被引：6
|
作者：
Giselsson, Pontus [1 ]
机构：
[1] Lund Univ, Dept Automat Control LTH, SE-22100 Lund, Sweden
来源：
49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2010年
关键词：
MOVING HORIZON CONTROL; PLANT UNCERTAINTY; INPUT SATURATION; LINEAR-SYSTEMS;
D O I：
10.1109/CDC.2010.5717024
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3644 / 3649
页数：6
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