Stability Analysis of Real-Time Methods for Equality Constrained NMPC
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Publication:6330588
arXiv1912.03140MaRDI QIDQ6330588FDOQ6330588
Authors: Andrea Zanelli, Quoc Tran Dinh, Moritz Diehl 
Publication date: 6 December 2019
Abstract: In this paper, a proof of asymptotic stability for the combined system-optimizer dynamics associated with a class of real-time methods for equality constrained nonlinear model predictive control is presented. General Q-linearly convergent online optimization methods are considered and asymptotic stability results are derived for the case where a single iteration of the optimizer is carried out per sampling time. In particular, it is shown that, if the underlying sampling time is sufficiently short, asymptotic stability can be guaranteed. The results constitute an extension to existing attractivity results for the well-known real-time iteration strategy.
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