A general framework to design stabilizing nonlinear model predictive controllers

• Tipo: Artigo em Revista Científica Internacional
• Data: 2001

Autores

fontes, facc (Autor) FEUP

Revista

A Revista está pendente de validação pelos Serviços Administrativos.

Título: SYSTEMS & CONTROL LETTERS

Vol. 42

Páginas: 127-143

ISSN: 0167-6911

Indexação

ISI Web of Knowledge - 221 Citações

Scopus - 256 Citações

Outras Informações

ID Authenticus: P-000-WCY

DOI: 10.1016/s0167-6911(00)00084-0

Abstract (EN): 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 to verify a priori the stabilizing properties of the control strategies considered. 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 17