Relaxed Logarithmic Barrier Function Based Model Predictive Control of Linear Systems

DOI10.1109/TAC.2016.2582040zbMATH Open1366.93243arXiv1503.03314OpenAlexW1531755431MaRDI QIDQ5282371FDOQ5282371

Authors: Christian Feller, Christian Ebenbauer 

Publication date: 27 July 2017

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

Abstract: In this paper, we investigate the use of relaxed logarithmic barrier functions in the context of linear model predictive control. We present results that allow to guarantee asymptotic stability of the corresponding closed-loop system, and discuss further properties like performance and constraint satisfaction in dependence of the underlying relaxation. The proposed stabilizing MPC schemes are not necessarily based on an explicit terminal set or state constraint and allow to characterize the stabilizing control input sequence as the minimizer of a globally defined, continuously differentiable, and strongly convex function. The results are illustrated by means of a numerical example.

Full work available at URL: https://arxiv.org/abs/1503.03314

Mathematics Subject Classification ID

Linear systems in control theory (93C05)

Cited In (9)

• Robust and structure exploiting optimisation algorithms: an integral quadratic constraint approach
• Nonlinear model predictive control with aggregated constraints
• A stabilizing iteration scheme for model predictive control based on relaxed barrier functions
• A proximity moving horizon estimator for a class of nonlinear systems
• A Lyapunov function for the combined system-optimizer dynamics in inexact model predictive control
• Decentralized proximal splitting algorithms for composite constrained convex optimization
• Optimal control by deep learning techniques and its applications on epidemic models
• Online learning with stability guarantees: a memory-based warm starting for real-time MPC
• A game representation for a finite horizon state constrained continuous time linear regulator problem

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