Regulation and tracking of the nonholonomic double integrator: a field-oriented control approach
Automatica (Journal of IFAC)
Verifying average dwell time of hybrid systems
ACM Transactions on Embedded Computing Systems (TECS)
Multiobjective model predictive control
Automatica (Journal of IFAC)
A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Stabilization of nonholonomic integrators via logic-based switching
Automatica (Journal of IFAC)
Examples when nonlinear model predictive control is nonrobust
Automatica (Journal of IFAC)
Robust hybrid predictive control of nonlinear systems
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
In this paper, we propose a novel switched model predictive control (MPC) algorithm for nonlinear continuous-time systems, where we switch between different cost functionals in order to enhance performance. Thus, different performance criteria can be taken into account. In order to ensure stability of the resulting closed-loop system, we consider switching signals which exhibit a certain average dwell-time. When considering switching signals of this type, certain assumptions are common in the switched systems literature in order to ensure stability, like a matching condition for the different Lyapunov functions and the possibility to find Lyapunov functions with an exponential decay rate. In this paper, we show how these assumptions can be satisfied in the MPC context and thus stability of the proposed switched MPC algorithm can be established.