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Unconstrained tracking MPC for continuous-time nonlinear systems. (English) Zbl 1478.93172

Summary: In this paper, we extend unconstrained model predictive control (MPC) from setpoint stabilization to dynamic reference tracking for continuous-time nonlinear systems. In particular, we focus on the case when the reference cannot be perfectly tracked by the system due to dynamics and/or constraints. Under the incremental stabilizability assumption and an additional dissipativity assumption, the practical stability of tracking the unknown optimal reachable reference trajectory is proved even though the controller does not know such a reference explicitly.

MSC:

93B45 Model predictive control
93C10 Nonlinear systems in control theory

Software:

ICLOCS; Ipopt
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Full Text: DOI

References:

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