A nonlinear model predictive control framework using reference generic terminal ingredients [article]

Johannes Köhler, Matthias A. Müller, Frank Allgöwer
2019 arXiv   pre-print
In this paper, we present a quasi infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems, which are locally incrementally stabilizable. For such systems, we provide a reference generic offline procedure to compute an incrementally stabilizing feedback with a continuously parameterized quadratic quasi infinite horizon terminal cost. As a result we get a nonlinear reference tracking MPC scheme
more » ... with a valid terminal cost for general reachable reference trajectories without increasing the online computational complexity. As a corollary, the terminal cost can also be used to design nonlinear MPC schemes that reliably operate under online changing conditions, including unreachable reference signals. The practicality of this approach is demonstrated with a benchmark example.
arXiv:1909.12765v1 fatcat:il5aybuhw5aejhidsqthxfyxli