On the stability of unconstrained receding horizon control with a general terminal cost
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
nonlinear control systems
predictive control
stability
general terminal cost
model predictive control
nonlinear systems
optimal control
unconstrained receding horizon control
uniform horizon length
Electrical and Computer Engineering
Engineering
Systems Engineering
nonlinear control systems
predictive control
stability
general terminal cost
model predictive control
nonlinear systems
optimal control
unconstrained receding horizon control
uniform horizon length
Electrical and Computer Engineering
Engineering
Systems Engineering
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Hauser, John
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Abstract
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.
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2001-12-04
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Departmental Papers (ESE)
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2023-05-16T22:24:42.000
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Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 5, pages 4826-4831. Publisher URL: http://dx.doi.org/10.1109/.2001.980971 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 5, pages 4826-4831. Publisher URL: http://dx.doi.org/10.1109/.2001.980971 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 5, pages 4826-4831. Publisher URL: http://dx.doi.org/10.1109/.2001.980971 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.