Forward-looking persistent excitation in model predictive control

DOI10.1016/J.AUTOMATICA.2021.110033MaRDI QIDQ2063790zbMATH OpenOpenAlexFDO

Authors Sven Brüggemann, Robert R. Bitmead

Publication date 3 January 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2004.01625

zbMATH Keywords

adaptive controlmodel predictive controlclosed-loop identificationrecursive least squarespersistence of excitation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Exponential stability (93D23) Model predictive control (93B45)

Abstract: This work deals with the problem of simultaneous regulation and model parameter estimation in adaptive model predictive control. We propose an adaptive model predictive control and conditions which guarantee a persistently exciting closed loop sequence by only looking forward in time into the receding prediction horizon. Earlier works needed to look backwards and preserve prior regressor data. Instead, we present a procedure for the offline generation of a persistently exciting reference trajectory perturbing the equilibrium. With the new approach we demonstrate exponential convergence of nonlinear systems under the influence of the adaptive model predictive control combined with a recursive least squares identifier with forgetting factor despite bounded noise. The results are, at this stage, local in state and parameter-estimate space.

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Cited in

(2)

• Stabilizing predictive control with persistence of excitation for constrained linear systems
• Persistently exciting model predictive control

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