Title :
On the stability of unconstrained receding horizon control with a general terminal cost
Author :
Jadbabaie, A. ; Hauser, John
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
Deals with unconstrained receding horizon control of nonlinear systems with a general, non-negative terminal cost. Earlier results have indicated that when the terminal cost is a suitable local control Lyapunov function, the receding horizon scheme is stabilizing for any horizon length. Jadbabaie et al. (2001) show that there always exist a uniform horizon length which guarantees stability of the receding horizon scheme over any sub-level set of the finite horizon cost when the terminal cost is identically zero. In this paper, we extend this result to the case where the terminal cost is a general non-negative function
Keywords :
nonlinear control systems; optimal control; predictive control; stability; general terminal cost; model predictive control; nonlinear systems; optimal control; stability; unconstrained receding horizon control; uniform horizon length; Automatic control; Control systems; Cost function; Lyapunov method; Nonlinear control systems; Nonlinear systems; Open loop systems; Optimal control; Predictive models; Stability;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980971
