Quadratic costs do not always work in MPC

DOI10.1016/J.AUTOMATICA.2017.04.058MaRDI QIDQ2409158zbMATH OpenOpenAlexWikidataFDO

Authors Matthias A. Müller, Karl Worthmann

Publication date 11 October 2017

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2017.04.058

zbMATH Keywords

asymptotic stabilizationmobile robotsmodel predictive controlnonlinear systemsquadratic costs

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A general framework to design stabilizing nonlinear model predictive controllers
• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• Analysis and Design of Unconstrained Nonlinear MPC Schemes for Finite and Infinite Dimensional Systems
• Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
• Calculus on normed vector spaces
• Constrained model predictive control: Stability and optimality
• Feasibility and stability of constrained finite receding horizon control
• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• scientific article; zbMATH DE number 1734433 (Why is no real title available?)
• scientific article; zbMATH DE number 1182386 (Why is no real title available?)
• Min-max model predictive control of nonlinear systems using discontinuous feedbacks
• Model predictive control: for want of a local control Lyapunov function, all is not lost
• Nonlinear model predictive control. Theory and algorithms
• On the Infinite Horizon Performance of Receding Horizon Controllers
• Stability and feasibility of state constrained MPC without stabilizing terminal constraints
• The role of sampling for stability and performance in unconstrained nonlinear model predictive control
• Unconstrained model predictive control and suboptimality estimates for nonlinear continuous-time systems

Cited in

(10)

• Stabilization of strictly dissipative discrete time systems with discounted optimal control
• Predictive path following control without terminal constraints
• Differential communication with distributed MPC based on occupancy grid
• Symmetry and motion primitives in model predictive control
• Interaction of open and closed loop control in MPC
• Model predictive control, cost controllability, and homogeneity
• Model predictive control of non-holonomic systems: beyond differential-drive vehicles
• Learning-based model predictive control with moving horizon state estimation for autonomous racing
• Flexible-step model predictive control based on generalized Lyapunov functions
• Data-driven model predictive control: asymptotic stability despite approximation errors exemplified in the Koopman framework

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