Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees
Author
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.
Department/s
Publishing year
2010
Language
English
Pages
3644-3649
Full text
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Document type
Conference paper
Topic
- Control Engineering
Keywords
- 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
Research group
- LCCC