An effective terminal condition ensuring stability of MPC
The stability of MPC is a tighten problem and can be guaranteed through choosing a set of ingredients which satisfying stability conditions. The ingredients are the terminal cost function, the local control law and the terminal constraint set. In this paper, a novel way of choosing these ingredients is shown. The solution of the optimal problem which is changed by adding the slaw-rate items into the cost function is chosen to be the local stability controller, the optimal value function of the problem is chosen to be the terminal cost function and the level set of the value function is chosen to be the terminal constraint set. Finally, a simple example is given to lay out the application of the new algorithm. Based on the ensuring process and the example, we believe that the chosen ingredients are a set of effective terminal conditions that ensuring the stability of the MPC.
MPC lyapunov function optimal control level set
Zhang zhi-sheng Chen Huai-min Wu Cheng-fu Ma Song-hui
National Key Laboratory of Science and Technology on UAV, Northwestern Poly-technical University, Xian,China
国际会议
太原
英文
202-206
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）