Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees
(2010) 49th IEEE Conference on Decision and Control p.3644-3649- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1769536
- author
- Giselsson, Pontus LU
- organization
- publishing date
- 2010
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- stability, Adaptive Model Predictive Control, sub-optimality
- pages
- 3644 - 3649
- conference name
- 49th IEEE Conference on Decision and Control
- conference location
- Atlanta, Georgia, United States
- conference dates
- 2010-12-15
- external identifiers
-
- wos:000295049104033
- scopus:79953142883
- language
- English
- LU publication?
- yes
- id
- 57b178c1-7890-4345-bcff-6eed47fa7fba (old id 1769536)
- date added to LUP
- 2016-04-04 13:31:06
- date last changed
- 2024-05-12 02:24:25
@misc{57b178c1-7890-4345-bcff-6eed47fa7fba, abstract = {{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.}}, author = {{Giselsson, Pontus}}, keywords = {{stability; Adaptive Model Predictive Control; sub-optimality}}, language = {{eng}}, pages = {{3644--3649}}, title = {{Adaptive Nonlinear Model Predictive Control with Suboptimality and Stability Guarantees}}, url = {{https://lup.lub.lu.se/search/files/6139595/3131658.pdf}}, year = {{2010}}, }