On quadratic stage costs for mobile robots in model predictive control

On quadratic stage costs for mobile robots in model predictive control We consider nonholonomic mobile robots. Since the system is finite time controllable, it is stabilizable by a receding horizon control scheme with purely quadratic stage costs if an infinite optimization horizon is employed. However, due to the so called short‐sightedness of model predictive control, these stability properties are not preserved if the control problem is only optimized on a truncated and, thus, finite prediction horizon — even if an arbitrarily large terminal weight is added. Hence, it is necessary to either incorporate structurally different terminal costs or use non‐quadratic stage costs to appropriately penalize the deviation from the desired set point. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim) http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Proceedings in Applied Mathematics & Mechanics Wiley

On quadratic stage costs for mobile robots in model predictive control

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Publisher
Wiley Subscription Services, Inc., A Wiley Company
Copyright
Copyright © 2017 Wiley Subscription Services
ISSN
1617-7061
eISSN
1617-7061
D.O.I.
10.1002/pamm.201710380
Publisher site
See Article on Publisher Site

Abstract

We consider nonholonomic mobile robots. Since the system is finite time controllable, it is stabilizable by a receding horizon control scheme with purely quadratic stage costs if an infinite optimization horizon is employed. However, due to the so called short‐sightedness of model predictive control, these stability properties are not preserved if the control problem is only optimized on a truncated and, thus, finite prediction horizon — even if an arbitrarily large terminal weight is added. Hence, it is necessary to either incorporate structurally different terminal costs or use non‐quadratic stage costs to appropriately penalize the deviation from the desired set point. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Journal

Proceedings in Applied Mathematics & MechanicsWiley

Published: Jan 1, 2017

References

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