Discrete-time stability with perturbations: application to model predictive control
Automatica (Journal of IFAC)
A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability
Automatica (Journal of IFAC)
Survey paper: Set invariance in control
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
A stabilizing model-based predictive control algorithm for nonlinear systems
Automatica (Journal of IFAC)
Brief Nonlinear model predictive control with polytopic invariant sets
Automatica (Journal of IFAC)
On the minimax reachability of target sets and target tubes
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Non-fragile control of uncertain Markovian jumping linear systems subject to actuator saturation
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Automatica (Journal of IFAC)
Controller design for Markov jumping systems subject to actuator saturation
Automatica (Journal of IFAC)
Nonlinear dynamic systems design based on the optimization of the domain of attraction
Mathematical and Computer Modelling: An International Journal
On set-theoretic methods in tracking MPC
International Journal of Systems, Control and Communications
Hi-index | 22.15 |
This paper presents a method for enlarging the domain of attraction of nonlinear model predictive control (MPC). The usual way of guaranteeing stability of nonlinear MPC is to add a terminal constraint and a terminal cost to the optimization problem such that the terminal region is a positively invariant set for the system and the terminal cost is an associated Lyapunov function. The domain of attraction of the controller depends on the size of the terminal region and the control horizon. By increasing the control horizon, the domain of attraction is enlarged but at the expense of a greater computational burden, while increasing the terminal region produces an enlargement without an extra cost. In this paper, the MPC formulation with terminal cost and constraint is modified, replacing the terminal constraint by a contractive terminal constraint. This constraint is given by a sequence of sets computed off-line that is based on the positively invariant set. Each set of this sequence does not need to be an invariant set and can be computed by a procedure which provides an inner approximation to the one-step set. This property allows us to use one-step approximations with a trade off between accuracy and computational burden for the computation of the sequence. This strategy guarantees closed loop-stability ensuring the enlargement of the domain of attraction and the local optimality of the controller. Moreover, this idea can be directly translated to robust MPC.