A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability

被引:1066
作者
Chen, H
Allgower, F
机构
[1] Univ Stuttgart, Inst Syst Dynam & Regelungstech, D-70550 Stuttgart, Germany
[2] ETH Zentrum, Inst Automat, CH-8092 Zurich, Switzerland
关键词
nonlinear model predictive control; stability; terminal inequality constraint; terminal cost; quasi-infinite horizon;
D O I
10.1016/S0005-1098(98)00073-9
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We present in this paper a novel nonlinear model predictive control scheme that guarantees asymptotic 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 prediction 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. (C) 1998 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码:1205 / 1217
页数:13
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