Funnel MPC with feasibility constraints for nonlinear systems with arbitrary relative degree

Autor:	Berger, Thomas, Dennstädt, Dario
Rok vydání:	2022
Předmět:	Mathematics - Optimization and Control 34H05 49J30 93B45 93C10
Druh dokumentu:	Working Paper
Popis:	We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achieve the evolution of the tracking error within a prescribed performance funnel. We propose a novel stage cost for Funnel MPC, extending earlier designs to the case of arbitrary relative degree, and show that the control objective as well as initial and recursive feasibility are always achieved - without requiring any terminal conditions or a sufficiently long prediction horizon. We only impose an additional feasibility constraint in the optimal control problem. Comment: 6 pages, 3 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2203.10328 Zobrazit plný text záznamu View this record from Arxiv