A Nonlinear Model Predictive Control Framework Using Reference Generic Terminal Ingredients

DOI10.1109/TAC.2019.2949350MaRDI QIDQ5125779zbMATH OpenFDO

Authors Johannes Köhler, Matthias A. Müller, Frank Allgöwer

Publication date 7 October 2020

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1909.12765

Mathematics Subject Classification ID

Systems theory; control (93-XX)

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• A robust nonlinear tracking MPC using qLPV embedding and zonotopic uncertainty propagation
• Global stability of unmanned surface vehicles with optimal thrust allocation using Lyapunov-based model predictive fault-tolerant control
• Safe, learning-based MPC for highway driving under Lane-change uncertainty: a distributionally robust approach
• Nonlinear MPC design for incrementally ISS systems with application to GRU networks
• Finite control set model predictive control with limit cycle stability guarantees

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