Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective

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OriginalspracheEnglisch
Aufsatznummer8278210
Seiten (von - bis)254-269
Seitenumfang16
FachzeitschriftIEEE Transactions on Automatic Control
Jahrgang64
Ausgabenummer1
PublikationsstatusVeröffentlicht - Jan. 2019

Abstract

In this paper, we study the system theoretic properties of a reference tracking model predictive control (MPC) scheme for general reference trajectories and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive implementation and derive theoretical guarantees under a stabilizability condition on the system and suitable conditions on the reference trajectory. We provide sufficient conditions for exponential reference tracking for reachable reference trajectories. In addition, we study unreachable reference trajectories and derive sufficient conditions to ensure practical stability of the unknown optimal reachable reference trajectory. For both cases, we characterize the region of attraction. The results build on the notion of incremental stabilizability, strict dissipativity, and results in (economic) MPC without terminal constraints.

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Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective. / Köhler, Johannes; Müller, Matthias A.; Allgöwer, Frank.
in: IEEE Transactions on Automatic Control, Jahrgang 64, Nr. 1, 8278210, 01.2019, S. 254-269.

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

Köhler J, Müller MA, Allgöwer F. Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective. IEEE Transactions on Automatic Control. 2019 Jan;64(1):254-269. 8278210. doi: 10.1109/TAC.2018.2800789
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