Unconstrained tracking MPC for continuous-time nonlinear systems. (July 2021)

• Record Type: Journal Article
• Authors: Long, Yushen; Xie, Lihua
• Is Part Of: Automatica. Volume 129(2021)
• Publication Date: 2021-07
• Subjects: Model predictive control -- Tracking control -- Nonlinear system -- Optimization; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2021.109680
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: In this paper, we extend unconstrained model predictive control (MPC) from setpoint stabilization to dynamic reference tracking for continuous-time nonlinear systems. In particular, we focus on the case when the reference cannot be perfectly tracked by the system due to dynamics and/or constraints. Under the incremental stabilizability assumption and an additional dissipativity assumption, the practical stability of tracking the unknown optimal reachable reference trajectory is proved even though the controller does not know such a reference explicitly.