A Model Predictive Control Scheme with Additional Performance Index for Transient Behavior

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Alessandretti, A (Author) Other; Aguiar, AP (Author) FEUP; Jones, CN (Author) Other

Conference proceedings International

Title: Proceedings of the IEEE Conference on Decision and Control

Pages: 5090-5095

52nd IEEE Conference on Decision and Control, CDC 2013

Florence, 10 December 2013 through 13 December 2013

Indexing

ISI Web of Knowledge - 4 Citations

Scopus - 6 Citations

Other information

Authenticus ID: P-009-JC2

DOI: 10.1109/cdc.2013.6760688

Abstract (EN): This paper presents a Model Predictive Control (MPC) scheme for nonlinear continuous time systems where an extra performance index, which is not a measure of the distance to the set point, is introduced to influence the transient behavior of the controlled system. The scheme is based on the following fact, proven in the paper: Given a stabilizing MPC controller, adding a function, integrable in the interval [t, + infinity), to the stage cost does not change the asymptotic convergence property of the closed loop state trajectory. As a numerical example, this result is applied to solve a simple visual servo control problem where an MPC controller drives the state to the origin while penalizing weakly observable trajectories.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6