Model predictive control with preview: recursive feasibility and stability

This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview information as necessary, but also take advantage of the distu...

Full description

Saved in:

Bibliographic Details
Main Authors:	Xing Fang, Wen-Hua Chen
Format:	Default Article
Published:	2022
Subjects:	model predictive control disturbance rejection disturbance preview input-to-state stability recursive feasibility
Online Access:	https://hdl.handle.net/2134/19727170.v1
Tags:	Add Tag No Tags, Be the first to tag this record!

id	rr-article-19727170
record_format	Figshare
spelling	rr-article-197271702022-05-05T00:00:00Z Model predictive control with preview: recursive feasibility and stability Xing Fang (431797) Wen-Hua Chen (1251597) model predictive control disturbance rejection disturbance preview input-to-state stability recursive feasibility <p>This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview information as necessary, but also take advantage of the disturbance if it is good for a control task. This is realised by taking into account both the task (e.g. reference trajectory) and disturbance preview in the prediction horizon when performing online optimisation. Conditions are established to ensure recursive feasibility and stability under disturbance. First the disturbance within the horizon is augmented with the state to form a new composite system and then the stage cost function is modified accordingly. With the help of input-to-state stability theory, a terminal cost and a terminal constraint are constructed and added to the MPC algorithm with preview to guarantee its recursive feasibility and stability under a pre-bounded disturbance. Numerical simulation results demonstrate the effectiveness of the proposed MPC algorithm.</p> 2022-05-05T00:00:00Z Text Journal contribution 2134/19727170.v1 https://figshare.com/articles/journal_contribution/Model_predictive_control_with_preview_recursive_feasibility_and_stability/19727170 All Rights Reserved
institution	Loughborough University
collection	Figshare
topic	model predictive control disturbance rejection disturbance preview input-to-state stability recursive feasibility
spellingShingle	model predictive control disturbance rejection disturbance preview input-to-state stability recursive feasibility Xing Fang Wen-Hua Chen Model predictive control with preview: recursive feasibility and stability
description	This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview information as necessary, but also take advantage of the disturbance if it is good for a control task. This is realised by taking into account both the task (e.g. reference trajectory) and disturbance preview in the prediction horizon when performing online optimisation. Conditions are established to ensure recursive feasibility and stability under disturbance. First the disturbance within the horizon is augmented with the state to form a new composite system and then the stage cost function is modified accordingly. With the help of input-to-state stability theory, a terminal cost and a terminal constraint are constructed and added to the MPC algorithm with preview to guarantee its recursive feasibility and stability under a pre-bounded disturbance. Numerical simulation results demonstrate the effectiveness of the proposed MPC algorithm.
format	Default Article
author	Xing Fang Wen-Hua Chen
author_facet	Xing Fang Wen-Hua Chen
author_sort	Xing Fang (431797)
title	Model predictive control with preview: recursive feasibility and stability
title_short	Model predictive control with preview: recursive feasibility and stability
title_full	Model predictive control with preview: recursive feasibility and stability
title_fullStr	Model predictive control with preview: recursive feasibility and stability
title_full_unstemmed	Model predictive control with preview: recursive feasibility and stability
title_sort	model predictive control with preview: recursive feasibility and stability
publishDate	2022
url	https://hdl.handle.net/2134/19727170.v1
_version_	1797548481722712064

Model predictive control with preview: recursive feasibility and stability

Similar Items