Title :
Adaptive Nonlinear Model Predictive Control with suboptimality and stability guarantees
Author :
Giselsson, Pontus
Author_Institution :
Dept. of Autom. Control LTH, Lund Univ., Lund, Sweden
Abstract :
Theory for Adaptive Nonlinear Model Predictive Control is developed based on the relaxed dynamic programming inequality. The adaptivity in the controller lies in the choice of control horizon. The control horizon is chosen such that a variation of the relaxed dynamic programming inequality holds for all time steps along the closed loop trajectory. This provides guarantees for asymptotic stability and closed loop suboptimality above a certain pre-specified level.
Keywords :
adaptive control; asymptotic stability; closed loop systems; dynamic programming; nonlinear control systems; predictive control; adaptive nonlinear model predictive control; asymptotic stability guarantees; closed loop suboptimality guarantees; closed loop trajectory; control horizon; relaxed dynamic programming inequality; Asymptotic stability; Dynamic programming; Optimization; Predictive control; Predictive models; Trajectory; Upper bound;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717024
