Flexible-step Model Predictive Control based on Generalized Lyapunov Functions
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Publication:6506971
arXiv2211.02780MaRDI QIDQ6506971FDOQ6506971
Annika Fürnsinn, Christian Ebenbauer, Bahman Gharesifard
Abstract: We present a novel model predictive control (MPC) scheme with relaxed stability criteria, based on the idea of generalized discrete-time control Lyapunov functions. Most notably, this scheme allows for implementing a flexible number of control inputs in each iteration, while guaranteeing recursive feasibility and stability. The advantages of our flexible-step implementation are demonstrated on nonholonomic systems, where the one-step standard implementation may suffer from lack of asymptotic convergence.
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