In this paper, we propose an economic model predictive control (MPC) framework with a self-tuning terminal weight, which builds on a recently proposed MPC algorithm with a generalized terminal state constraint. First, given a general time-varying terminal weight, we derive an upper bound on the closed-loop average performance which depends on the limit value of the predicted terminal state. After that, we derive conditions for a self-tuning terminal weight such that bounds for this limit value can be obtained. Finally, we propose several update rules for the self-tuning terminal weight and analyze their respective properties. We illustrate our findings with several examples.
Economic model predictive control with self-tuning terminal cost / Matthias A. Müller; David Angeli; Frank Allgöwer. - In: EUROPEAN JOURNAL OF CONTROL. - ISSN 0947-3580. - STAMPA. - 19:(2013), pp. 408-416.
Economic model predictive control with self-tuning terminal cost
ANGELI, DAVID;
2013
Abstract
In this paper, we propose an economic model predictive control (MPC) framework with a self-tuning terminal weight, which builds on a recently proposed MPC algorithm with a generalized terminal state constraint. First, given a general time-varying terminal weight, we derive an upper bound on the closed-loop average performance which depends on the limit value of the predicted terminal state. After that, we derive conditions for a self-tuning terminal weight such that bounds for this limit value can be obtained. Finally, we propose several update rules for the self-tuning terminal weight and analyze their respective properties. We illustrate our findings with several examples.I documenti in FLORE sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.