Date of this Version
This paper deals with unconstrained receding horizon control of nonlinear systems with a general, non-negative terminal cost. Earlier results have indicated that when the terminal cost is a suitable local control Lyapunov function, the receding horizon scheme is stabilizing for any horizon length. In a recent paper, the authors show that there always exist a uniform horizon length which guarantees stability of the receding horizon scheme over any sub-level set of the finite horizon cost when the terminal cost is identically zero. In this paper, we extend this result to the case where the terminal cost is a general non-negative function.
nonlinear control systems, predictive control, stability, general terminal cost, model predictive control, nonlinear systems, optimal control, unconstrained receding horizon control, uniform horizon length
Date Posted: 30 April 2005