A general framework to design stabilizing nonlinear model predictive controllers. (English) Zbl 0985.93023

Summary: We propose a new model predictive control (MPC) framework to generate feedback controls for time-varying nonlinear systems with input constraints. We provide a set of conditions on the design parameters that permits the stabilizing properties of the control strategies under consideration to be verified a priori. The supplied sufficient conditions for stability can also be used to analyse the stability of most previous MPC schemes. The class of nonlinear systems addressed is significantly enlarged by removing the traditional assumptions on the continuity of the optimal controls and on the stabilizability of the linearized system. Some important classes of nonlinear systems, including some nonholonomic systems, can now be stabilized by MPC. In addition, we can exploit increased flexibility in the choice of design parameters to reduce the constraints of the optimal control problem, and thereby reduce the computational effort in the optimization algorithms used to implement MPC.


93B51 Design techniques (robust design, computer-aided design, etc.)
93C10 Nonlinear systems in control theory
Full Text: DOI


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