Enlarged terminal sets guaranteeing stability of receding horizon control. (English) Zbl 1094.93544

Summary: The purpose of this paper is to relax the terminal conditions typically used to ensure stability in model predictive control, thereby enlarging the domain of attraction for a given prediction horizon. Using some recent results, we present novel conditions that employ, as the terminal cost, the finite-horizon cost resulting from a nonlinear controller \(u=-\text{sat}(Kx)\) and, as the terminal constraint set, the set in which this controller is optimal for the finite-horizon constrained optimal control problem. It is shown that this solution provides a considerably larger terminal constraint set than is usually employed in stability proofs for model predictive control.


93D21 Adaptive or robust stabilization
49N35 Optimal feedback synthesis
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