Details
| Original language | English |
|---|---|
| Article number | 8278210 |
| Pages (from-to) | 254-269 |
| Number of pages | 16 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 64 |
| Issue number | 1 |
| Publication status | Published - 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.
Keywords
- Constrained control, Incremental stability, Nonlinear model predictive control (MPC), Reference tracking
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
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In: IEEE Transactions on Automatic Control, Vol. 64, No. 1, 8278210, 01.2019, p. 254-269.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Nonlinear Reference Tracking
T2 - An Economic Model Predictive Control Perspective
AU - Köhler, Johannes
AU - Müller, Matthias A.
AU - Allgöwer, Frank
N1 - Funding information: Manuscript received October 25, 2017; revised January 15, 2018; accepted January 17, 2018. Date of publication February 1, 2018; date of current version December 24, 2018. The work of J. Köhler was supported by the German Research Foundation through the project within the International Research Training Group Soft Tissue Robotics (GRK 2198/1). The work of M. A. Müller was supported by Baden-Württemberg Stiftung through the Eliteprogramme for Postdocs. Recommended by Associate Editor M. Alamir. (Corresponding author: Johannes Köhler.) The authors are with the Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart 70550, Germany (e-mail: johannes.koehler@ist.uni-stuttgart.de; matthias.mueller@ist. uni-stuttgart.de; frank.allgower@ist.uni-stuttgart.de).
PY - 2019/1
Y1 - 2019/1
N2 - 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.
AB - 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.
KW - Constrained control
KW - Incremental stability
KW - Nonlinear model predictive control (MPC)
KW - Reference tracking
UR - http://www.scopus.com/inward/record.url?scp=85041416921&partnerID=8YFLogxK
U2 - 10.1109/TAC.2018.2800789
DO - 10.1109/TAC.2018.2800789
M3 - Article
VL - 64
SP - 254
EP - 269
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 1
M1 - 8278210
ER -