Stabilizing model predictive control: On the enlargement of the terminal set
Summary It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method u...
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| Veröffentlicht in: | International journal of robust and nonlinear control 2015-10, Vol.25 (15), p.2646-2670 |
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| container_end_page | 2670 |
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| container_issue | 15 |
| container_start_page | 2646 |
| container_title | International journal of robust and nonlinear control |
| container_volume | 25 |
| creator | Brunner, Florian D. Lazar, Mircea Allgöwer, Frank |
| description | Summary
It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function. Copyright © 2014 John Wiley & Sons, Ltd. |
| doi_str_mv | 10.1002/rnc.3219 |
| format | Article |
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It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function. Copyright © 2014 John Wiley & Sons, Ltd.</description><identifier>ISSN: 1049-8923</identifier><identifier>EISSN: 1099-1239</identifier><identifier>DOI: 10.1002/rnc.3219</identifier><language>eng</language><publisher>Bognor Regis: Blackwell Publishing Ltd</publisher><subject>constrained control ; Enlargement ; Hulls (structures) ; invariant sets ; Invariants ; Mathematical models ; model predictive control ; Nonlinearity ; Predictive control ; Stopping ; Terminals ; Trajectories</subject><ispartof>International journal of robust and nonlinear control, 2015-10, Vol.25 (15), p.2646-2670</ispartof><rights>Copyright © 2014 John Wiley & Sons, Ltd.</rights><rights>Copyright © 2015 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c4349-dbaebe9aa31b3867cf69d4ed17f6933d506c1a03dafe3b9c9d8788476b4a7da43</citedby><cites>FETCH-LOGICAL-c4349-dbaebe9aa31b3867cf69d4ed17f6933d506c1a03dafe3b9c9d8788476b4a7da43</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Frnc.3219$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Frnc.3219$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,776,780,1411,27901,27902,45550,45551</link.rule.ids></links><search><creatorcontrib>Brunner, Florian D.</creatorcontrib><creatorcontrib>Lazar, Mircea</creatorcontrib><creatorcontrib>Allgöwer, Frank</creatorcontrib><title>Stabilizing model predictive control: On the enlargement of the terminal set</title><title>International journal of robust and nonlinear control</title><addtitle>Int. J. Robust. Nonlinear Control</addtitle><description>Summary
It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function. Copyright © 2014 John Wiley & Sons, Ltd.</description><subject>constrained control</subject><subject>Enlargement</subject><subject>Hulls (structures)</subject><subject>invariant sets</subject><subject>Invariants</subject><subject>Mathematical models</subject><subject>model predictive control</subject><subject>Nonlinearity</subject><subject>Predictive control</subject><subject>Stopping</subject><subject>Terminals</subject><subject>Trajectories</subject><issn>1049-8923</issn><issn>1099-1239</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp10N9LwzAQB_AiCs4p-CcUfPGlM2napvFNpk5hbOD8hS8hTa4zM21nkqnzr7dzoij4dMfdh-P4BsE-Rj2MUHxka9kjMWYbQQcjxiIcE7a56hMW5Swm28GOczOE2l2cdILhxItCG_2u62lYNQpMOLegtPT6BULZ1N425jgc16F_hBBqI-wUKqh92JSfIw-20rUwoQO_G2yVwjjY-6rd4Ob87Lp_EQ3Hg8v-yTCSCWnfUIWAApgQBBckz6gsM6YSUJi2DSEqRZnEAhElSiAFk0zlNM8TmhWJoEokpBscru_ObfO8AOd5pZ0EY0QNzcJxTFOSIpahtKUHf-isWdj235XCCMc4ofTnoLSNcxZKPre6EnbJMeKrWHkbK1_F2tJoTV-1geW_jl-N-r-9dh7evr2wTzyjhKb8bjTglE4eTu8x5bfkAyc7h-k</recordid><startdate>201510</startdate><enddate>201510</enddate><creator>Brunner, Florian D.</creator><creator>Lazar, Mircea</creator><creator>Allgöwer, Frank</creator><general>Blackwell Publishing Ltd</general><general>Wiley Subscription Services, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>201510</creationdate><title>Stabilizing model predictive control: On the enlargement of the terminal set</title><author>Brunner, Florian D. ; Lazar, Mircea ; Allgöwer, Frank</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c4349-dbaebe9aa31b3867cf69d4ed17f6933d506c1a03dafe3b9c9d8788476b4a7da43</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>constrained control</topic><topic>Enlargement</topic><topic>Hulls (structures)</topic><topic>invariant sets</topic><topic>Invariants</topic><topic>Mathematical models</topic><topic>model predictive control</topic><topic>Nonlinearity</topic><topic>Predictive control</topic><topic>Stopping</topic><topic>Terminals</topic><topic>Trajectories</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Brunner, Florian D.</creatorcontrib><creatorcontrib>Lazar, Mircea</creatorcontrib><creatorcontrib>Allgöwer, Frank</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>International journal of robust and nonlinear control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Brunner, Florian D.</au><au>Lazar, Mircea</au><au>Allgöwer, Frank</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Stabilizing model predictive control: On the enlargement of the terminal set</atitle><jtitle>International journal of robust and nonlinear control</jtitle><addtitle>Int. J. Robust. Nonlinear Control</addtitle><date>2015-10</date><risdate>2015</risdate><volume>25</volume><issue>15</issue><spage>2646</spage><epage>2670</epage><pages>2646-2670</pages><issn>1049-8923</issn><eissn>1099-1239</eissn><abstract>Summary
It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function. Copyright © 2014 John Wiley & Sons, Ltd.</abstract><cop>Bognor Regis</cop><pub>Blackwell Publishing Ltd</pub><doi>10.1002/rnc.3219</doi><tpages>25</tpages></addata></record> |
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| ispartof | International journal of robust and nonlinear control, 2015-10, Vol.25 (15), p.2646-2670 |
| issn | 1049-8923 1099-1239 |
| language | eng |
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| source | Wiley Online Library Journals Frontfile Complete |
| subjects | constrained control Enlargement Hulls (structures) invariant sets Invariants Mathematical models model predictive control Nonlinearity Predictive control Stopping Terminals Trajectories |
| title | Stabilizing model predictive control: On the enlargement of the terminal set |
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