A Finite-Gain Stability Approach to NMPC Design: the Extended Version
For control engineers, it provides a systematic way to design NMPC with guaranteed stability under disturbances, but the example is simulated and lacks concrete performance numbers.
The paper proposes a novel NMPC design methodology based on Finite-Gain Stability (FGS) to handle unknown bounded disturbances and time-varying references, demonstrated on an automated vehicle control example.
This paper proposes a novel approach to design of Nonlinear Model Predictive Control (NMPC) schemes based on Finite-Gain Stability (FGS) concepts. The proposed formulation considers the case where the plant is affected by unknown but bounded disturbances, which renders difficult the classical Lyapunov-based analysis/design. Based on FGS conditions for a closed-loop system, we develop a systematic NMPC design methodology, allowing us to choose the relevant NMPC parameters that lead to closed-loop FGS and provide a satisfactory tracking performance, also for the case of time-varying reference signals. A simulated example is presented to demonstrate the effectiveness of our framework, concerned with lateral/longitudinal control of an automated vehicle.