TY - JOUR

T1 - A Nonlinear Model Predictive Control Framework Using Reference Generic Terminal Ingredients

AU - Kohler, Johannes

AU - Muller, Matthias A.

AU - Allgower, Frank

N1 - Funding information: Manuscript received June 3, 2019; revised September 30, 2019; accepted October 11, 2019. Date of publication October 24, 2019; date of current version July 28, 2020. The work of J. Köhler was supported by the German Research Foundation (DFG) for the project within the International Research Training Group “Soft Tissue Robotics” under Grant GRK 2198/1. Recommended by Associate Editor M. Alamir. (Corresponding author: Johannes Köhler.) J. Köhler and F. Allgöwer are with the Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart 70550, Germany (e-mail: johannes.koehler@ist.uni-stuttgart.de; frank.allgower@ist.uni-stuttgart.de).

PY - 2020/10/24

Y1 - 2020/10/24

N2 - In this article, we present a quasi-infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems, which are locally incrementally stabilizable. For such systems, we provide a reference generic offline procedure to compute an incrementally stabilizing feedback with a continuously parameterized quadratic quasi-infinite horizon terminal cost. As a result, we get a nonlinear reference tracking MPC scheme with a valid terminal cost for general reachable reference trajectories without increasing the online computational complexity. The practicality of this approach is demonstrated with a benchmark example.

AB - In this article, we present a quasi-infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems, which are locally incrementally stabilizable. For such systems, we provide a reference generic offline procedure to compute an incrementally stabilizing feedback with a continuously parameterized quadratic quasi-infinite horizon terminal cost. As a result, we get a nonlinear reference tracking MPC scheme with a valid terminal cost for general reachable reference trajectories without increasing the online computational complexity. The practicality of this approach is demonstrated with a benchmark example.

KW - Constrained control

KW - incremental stability

KW - nonlinear model predictive control (MPC)

KW - reference tracking

UR - http://www.scopus.com/inward/record.url?scp=85089907120&partnerID=8YFLogxK

U2 - 10.1109/TAC.2019.2949350

DO - 10.1109/TAC.2019.2949350

M3 - Article

VL - 65

SP - 3576

EP - 3583

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

SN - 0018-9286

IS - 8

M1 - 8882372

ER -