TR2015-059
Model Adjustable Predictive Control with Stability Guarantees
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- "Model Adjustable Predictive Control with Stability Guarantees", American Control Conference (ACC), DOI: 10.1109/ACC.2015.7170740, July 2015, pp. 226-231.BibTeX TR2015-059 PDF
- @inproceedings{DiCairano2015jul,
- author = {{Di Cairano}, S.},
- title = {Model Adjustable Predictive Control with Stability Guarantees},
- booktitle = {American Control Conference (ACC)},
- year = 2015,
- pages = {226--231},
- month = jul,
- publisher = {IEEE},
- doi = {10.1109/ACC.2015.7170740},
- issn = {0743-1619},
- isbn = {978-1-4799-8685-9},
- url = {https://www.merl.com/publications/TR2015-059}
- }
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- "Model Adjustable Predictive Control with Stability Guarantees", American Control Conference (ACC), DOI: 10.1109/ACC.2015.7170740, July 2015, pp. 226-231.
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Research Areas:
Abstract:
For stabilizing model predictive control adjusting the prediction model requires the adjustment of the terminal set and terminal cost. However, the conventional methods to design these are not practical, and often impossible, to implement in microcontrollers. In this paper, we pre-compute the terminal cost and terminal set in a form that allows to adjust them with minimal computational effort, following an adjustment of the prediction model. For unconstrained systems, a terminal cost and terminal controller are designed based on parameter-dependent Lyapunov functions. For constrained systems, the terminal function is also used to derive a robust polyhedral terminal set. We prove that the proposed method guarantees the existence of a terminal set with non-empty interior, and asymptotic stability of the closed-loop system.
Related News & Events
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NEWS MERL researchers present 10 papers at the American Controls Conference Date: July 3, 2015
MERL Contacts: Daniel N. Nikovski; Yebin Wang; Stefano Di Cairano; Arvind Raghunathan; Avishai WeissBrief- MERL researchers presented 10 papers at the American Controls Conference, in Chicago, USA. The ACC is one of the most important conferences on control systems in the world. Topics ranged from theoretical, including new algorithms for Model Predictive Control and Co-Design, to applications including spacecraft control and HVAC systems.