ISSN:
0363-0129
Content:
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 multioutput 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.
In:
Society for Industrial and Applied Mathematics, SIAM journal on control and optimization, Philadelphia, Pa. : Soc., 1966, 60(2022), 6, Seite 3358-3383, 0363-0129
In:
volume:60
In:
year:2022
In:
number:6
In:
pages:3358-3383
Language:
English
Author information:
Ilchmann, Achim 1956-
Author information:
Worthmann, Karl
Author information:
Berger, Thomas 1986-
