Stability of Barrier Model Predictive Control

Maxime Pouilly-Cathelain, Philippe Feyel, Gilles Duc, Guillaume Sandou

2020

Abstract

In the last decades, industrial problems have tried to take into account constraints explicitly in the design of the control law. Model Predictive Control is one way to do so and has been extensively studied. However, most papers related to constrained Model Predictive Control often omit to consider nondifferentiable constraints and stability is not ensured when constraints are not satisfied. The aim of this paper is to propose a formulation of the cost function of a Model Predictive Control to ensure stability in face with input and state nondifferentiable constraints. For this purpose, a set where all constraints are satisfied is defined by means of the invariant set theory. Once this set is defined, the system is enforced to reach it and stay in, while guaranteeing stability thanks to the choice of a well suited Lyapunov function based on the cost function.

Paper Citation

in Harvard Style

Pouilly-Cathelain M., Feyel P., Duc G. and Sandou G. (2020). Stability of Barrier Model Predictive Control.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 150-158. DOI: 10.5220/0009821001500158

in Bibtex Style

@conference{icinco20,
author={Maxime Pouilly-Cathelain and Philippe Feyel and Gilles Duc and Guillaume Sandou},
title={Stability of Barrier Model Predictive Control},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={150-158},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009821001500158},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Stability of Barrier Model Predictive Control
SN - 978-989-758-442-8
AU - Pouilly-Cathelain M.
AU - Feyel P.
AU - Duc G.
AU - Sandou G.
PY - 2020
SP - 150
EP - 158
DO - 10.5220/0009821001500158