## 37 Citations

### Model Predictive Control, Cost Controllability, and Homogeneity

- MathematicsSIAM J. Control. Optim.
- 2020

The stage cost is proposed to be constructed based on the homogeneous approximation and it is rigorously shown that applying MPC yields an asymp-totically stable closed-loop behavior if the homogenous approximation is asymptotically null controllable.

### On quadratic stage costs for mobile robots in model predictive control

- Mathematics
- 2017

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…

### On MPC without terminal conditions for dynamic non-holonomic robots

- MathematicsIFAC-PapersOnLine
- 2021

### Stability and performance analysis of NMPC: Detectable stage costs and general terminal costs

- MathematicsArXiv
- 2021

This work provides a stability and performance analysis for nonlinear model predictive control schemes that is applicable to positive semi-definite (detectable) cost functions, provides tight bounds using a linear programming analysis, and allows for a seamless integration of general positive- definite terminal cost functions in the analysis.

### A Nonlinear Model Predictive Control Framework Using Reference Generic Terminal Ingredients

- MathematicsIEEE Transactions on Automatic Control
- 2020

A quasi infinite horizon nonlinear model predictive control scheme for tracking of generic reference trajectories, which is applicable to nonlinear systems, which are locally incrementally stabilizable and can be used to design nonlinear MPC schemes that reliably operate under online changing conditions.

### A nonlinear model predictive control framework using reference generic terminal ingredients -- extended version

- Engineering, Computer Science
- 2019

—In this paper, we present a quasi inﬁnite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems,…

### A nonlinear tracking model predictive control scheme using reference generic terminal ingredients

- Mathematics
- 2018

In this paper, we present a quasi infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems,…

### Interplay of MPC and the Viability Kernel

- MathematicsArXiv
- 2021

This paper considers the problem of steering a state and input constrained differential drive robot to a desired position and orientation using model-predictive control (MPC) and finds that the horizon increases as initial conditions approach the boundary and, in particular, non-differentiable parts of the boundary.

## References

SHOWING 1-10 OF 35 REFERENCES

### Stability and feasibility of state constrained MPC without stabilizing terminal constraints

- MathematicsSyst. Control. Lett.
- 2014

### Model predictive control: for want of a local control Lyapunov function, all is not lost

- MathematicsIEEE Transactions on Automatic Control
- 2005

We present stability results for unconstrained discrete-time nonlinear systems controlled using finite-horizon model predictive control (MPC) algorithms that do not require the terminal cost to be a…

### Model predictive control for nonlinear continuous-time systems with and without time-delays

- Mathematics
- 2013

The objective of this thesis is the development of novel model predictive control (MPC) schemes for nonlinear continuous-time systems with and without time-delays in the states which guarantee…

### Predictive control algorithms : stability despite shortened optimization horizons

- Computer Science
- 2012

An algorithm is developed which allows to reduce the required optimization horizon length while maintaining asymptotic stability or a desired performance bound and is further elaborated in order to enhance its robustness properties.

### Analysis of unconstrained nonlinear MPC schemes with time varying control horizon

- Mathematics, Engineering2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
- 2012

This work presents a stability condition for model predictive control without stabilizing terminal constraints or costs in terms of an analytical formula which can be employed in order to determine a prediction horizon length for which asymptotic stability or a performance guarantee is ensured.

### A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability *

- Mathematics
- 1998

--We present in this paper a novel nonlinear model predictive control scheme that guarantees asymptotic c1osedloop stability. The scheme can be applied to both stable and unstable systems with input…

### Regulation of Differential Drive Robots using Continuous Time MPC without Stabilizing Constraints or Costs

- Mathematics
- 2015

### Unconstrained model predictive control and suboptimality estimates for nonlinear continuous-time systems

- Mathematics, EngineeringAutom.
- 2012