تقرير
Funnel MPC for nonlinear systems with relative degree one
| العنوان: | Funnel MPC for nonlinear systems with relative degree one |
|---|---|
| المؤلفون: | Berger, Thomas, Dennstädt, Dario, Ilchmann, Achim, Worthmann, Karl |
| سنة النشر: | 2021 |
| المجموعة: | Mathematics |
| مصطلحات موضوعية: | Mathematics - Optimization and Control, 34H05, 49J30, 93B45, 93C10 |
| الوصف: | We show that Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows tracking of smooth reference signals with prescribed performance for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The optimal control problem solved in each iteration of Funnel MPC resembles the basic idea of penalty methods used in optimization. To this end, we present a new stage cost design to mimic the high-gain idea of (adaptive) funnel control. We rigorously show initial and recursive feasibility of Funnel MPC without imposing terminal conditions or other requirements like a sufficiently long prediction horizon. Comment: 25 pages, 9 figures |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2107.03284 |
| رقم الأكسشن: | edsarx.2107.03284 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |