Stabilizing Model Predictive Control without Terminal Constraints for Switched Nonlinear Systems

Efficient scheduled stabilizing model predictive control for constrained nonlinear systems

We present a computationally efficient scheduled model predictive control (MPC) algorithm for constrained nonlinear systems with large operating regions. We design a set of local predictive controllers with estimates of their regions of stability covering the desired operating region, and implement them as a single scheduled MPC which on-line switches between the set of local controllers and ac...

Stabilizing model predictive control of nonlinear continuous time systems

This paper surveys some of the main design strategies of nonlinear model predictive control (MPC). The system under control, the performance index to be minimized and the state and control constraints to be fulfilled are defined in the continuous time. The considered algorithms are analyzed and compared in terms of stability, performance and implementation issues. In particular, it is shown tha...

Economic model predictive control of switched nonlinear systems

We focus on the development of a Lyapunov-based economic model predictive control (LEMPC) method for a class of switched nonlinear systems for which the mode transitions take place according to a prescribed switching schedule. In contrast to steady-state operation of conventional model predictive control (MPC) methods which use a quadratic objective function in their formulations, LEMPC utilize...

Nonlinear Model Predictive Control: Specifying Rates of Exponential Stability without Terminal State Constraints

Contraction-based nonlinear model predictive control formulation without stability-related terminal constraints

Contraction-based nonlinear model predictive control (NMPC) formulations are attractive because they generally require short prediction horizons, and there is no need for the terminal set computation and reinforcement that are common requirements to guarantee stability. However, the inclusion of the contraction constraint in the definition of the underlying optimization problem often leads to n...