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Model predictive control with implicit terminal ingredients
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AI
DOI：10.1016/j.automatica.2023.110942.png)
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摘要
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This paper proposes a new formulation of model predictive control for linear discrete time systems under state and control constraints. The main novelty of the proposed formulation is the introduction, and a computationally adequate utilization, of the implicit terminal constraint set and the implicit terminal cost function. From a numerical point of view, the deployment of the implicit terminal ingredients enables a computationally tractable use of model predictive control for higher dimensional control problems. From a practical point of view, the design of the proposed model predictive control algorithm is very constructive for a class of linear systems with polyhedral constraints. From a structural point of view, the proposed model predictive control retains a priori guarantees of the highly desirable positive invariance and exponential stability properties.(c) 2023 Elsevier Ltd. All rights reserved.
Keyword:
Linear systems
Model predictive control
Implicit terminal ingredients
期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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