Embedding Constrained Model Predictive Control in a Continuous-Time Dynamic Feedback

DOI10.1109/TAC.2018.2867359MaRDI QIDQ5223698zbMATH OpenOpenAlexFDO

Authors Marco M. Nicotra, Dominic Liao-McPherson, Ilya Kolmanovsky

Publication date 18 July 2019

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

Full work available at URL https://arxiv.org/abs/1709.06499

Mathematics Subject Classification ID

Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Optimal feedback synthesis (49N35) Computational methods for problems pertaining to systems and control theory (93-08)

Abstract: This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal control problem can be embedded into the internal states of a dynamic control law which runs in parallel to the system. Using input to state stability arguments, it is shown that if the controller dynamics are sufficiently fast with respect to the plant dynamics, the interconnection between the two systems is asymptotically stable. Additionally, it is shown that, by augmenting the proposed scheme with an add-on unit known as an Explicit Reference Governor, it is possible to drastically increase the set of initial conditions that can be steered to the desired reference without violating the constraints. Numerical examples demonstrate the effectiveness of the proposed scheme.

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Cited in

(7)

• A novel optimal control design for unknown nonlinear systems based on adaptive dynamic programming and nonlinear model predictive control
• ROTEC: robust to early termination command governor for systems with limited computing capacity
• Time-distributed optimization for real-time model predictive control: stability, robustness, and constraint satisfaction
• <scp>Near‐optimal</scp> control of a class of <scp>output‐constrained</scp> systems using recurrent neural network: A <scp>control‐barrier</scp> function approach
• Integral input-to-state stability of nonlinear time-delay systems with delay-dependent impulse effects
• Embedded model control: Reconciling modern control theory and error-based control design
• Instant distributed MPC with reference governor

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