Journal of Optimization Theory and Applications
Brief paper: MPC for tracking piecewise constant references for constrained linear systems
Automatica (Journal of IFAC)
Technical communique: MPC for tracking with optimal closed-loop performance
Automatica (Journal of IFAC)
Model predictive control of velocity and torque split in a parallel hybrid vehicle
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Constrained Control and Estimation: An Optimisation Approach
Constrained Control and Estimation: An Optimisation Approach
Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
SIAM Journal on Control and Optimization
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Brief Swinging up a pendulum by energy control
Automatica (Journal of IFAC)
Examples when nonlinear model predictive control is nonrobust
Automatica (Journal of IFAC)
Generalized terminal state constraint for model predictive control
Automatica (Journal of IFAC)
Generalized terminal state constraint for model predictive control
Automatica (Journal of IFAC)
Hi-index | 22.15 |
A terminal state equality constraint for Model Predictive Control (MPC) laws is investigated, where the terminal state/input pair is not fixed a priori but it is a free variable in the optimization. The approach, named ''generalized'' terminal state constraint, can be used for both tracking MPC (i.e. when the objective is to track a given steady state) and economic MPC (i.e. when the objective is to minimize a cost function which does not necessarily attains its minimum at a steady state). It is shown that the proposed technique provides, in general, a larger feasibility set with respect to the existing approaches, given the same prediction horizon. Moreover, a new receding horizon strategy is introduced, exploiting the generalized terminal state constraint. Under mild assumptions, the new strategy is guaranteed to converge in finite time, with arbitrarily good accuracy, to an MPC law with an optimally-chosen terminal state constraint, while still enjoying a larger feasibility set. The features of the new technique are illustrated by an inverted pendulum example in both the tracking and the economic contexts.