Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective
Nonlinear Reference Tracking: An Economic Model Predictive Control Perspective
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DOI：
10.1109/tac.2018.2800789
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发表时间：
2019-01
影响因子：
6.8
通讯作者：
Johannes Köhler;M. Müller;F. Allgöwer
中科院分区：
文献类型：
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作者：
Johannes Köhler;M. Müller;F. Allgöwer
在本文中，我们研究的参考跟踪模型预测控制（MPC）计划的一般参考轨迹和非线性离散时间系统的输入和状态约束的系统理论特性。与参考跟踪MPC的其他现有理论结果相反，我们不修改人工参考或终端成分的优化问题。相反，我们考虑一个简单，直观的实现，并在系统的稳定性条件和参考轨迹的适当条件下得到理论保证。我们提供了指数参考跟踪可达参考轨迹的充分条件。此外，我们研究不可达参考轨迹，并推导出充分条件，以确保实际稳定的未知的最佳可达参考轨迹。对于这两种情况下，我们的吸引力区域的特征。结果建立在增量稳定性，严格耗散性的概念，并导致（经济）MPC没有终端的限制。
In this paper, we study the system theoretic properties of a reference tracking model predictive control (MPC) scheme for general reference trajectories and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive implementation and derive theoretical guarantees under a stabilizability condition on the system and suitable conditions on the reference trajectory. We provide sufficient conditions for exponential reference tracking for reachable reference trajectories. In addition, we study unreachable reference trajectories and derive sufficient conditions to ensure practical stability of the unknown optimal reachable reference trajectory. For both cases, we characterize the region of attraction. The results build on the notion of incremental stabilizability, strict dissipativity, and results in (economic) MPC without terminal constraints.