文章基本信息

标题：Stability Analysis of Real-Time Methods for Equality Constrained NMPC
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作者：Andrea Zanelli ; Quoc Tran Dinh ; Moritz Diehl 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：6570-6576
DOI：10.1016/j.ifacol.2020.12.074
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a proof of asymptotic stability for the combined system-optimizer dynamics associated with a class of real-time methods for equality constrained nonlinear model predictive control is presented. General Q-linearly convergent online optimization methods are considered and asymptotic stability results are derived for the case where a single iteration of the optimizer is carried out per sampling time. In particular, it is shown that, if the underlying sampling time is sufficiently short, asymptotic stability can be guaranteed. The results constitute an extension to existing attractivity results for the well-known real-time iteration strategy.
关键词：Keywordspredictive controlconvergence of numerical methodsstability analysis