On the Optimality and Convergence Properties of the Iterative Learning Model Predictive Controller

DOI10.1109/TAC.2022.3148227arXiv2010.15153OpenAlexW3169147779MaRDI QIDQ6137540FDOQ6137540

Author name not available (Why is that?), Giancarlo Ferrari-Trecate, Emilio Tanowe Maddalena, Ugo Rosolia, Colin N. Jones

Publication date: 4 September 2023

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

Abstract: In this technical note we analyse the performance improvement and optimality properties of the Learning Model Predictive Control (LMPC) strategy for linear deterministic systems. The LMPC framework is a policy iteration scheme where closed-loop trajectories are used to update the control policy for the next execution of the control task. We show that, when a Linear Independence Constraint Qualification (LICQ) condition holds, the LMPC scheme guarantees strict iterative performance improvement and optimality, meaning that the closed-loop cost evaluated over the entire task converges asymptotically to the optimal cost of the infinite-horizon control problem. Compared to previous works this sufficient LICQ condition can be easily checked, it holds for a larger class of systems and it can be used to adaptively select the prediction horizon of the controller, as demonstrated by a numerical example.

Full work available at URL: https://arxiv.org/abs/2010.15153

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cited In (3)

• CBF-guided iterative learning control performance optimization for switched systems
• Hybrid-based model-free iterative learning control with optimal performance
• Feedback-assisted iterative learning model predictive control with nonlinear fuzzy model

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