Design of Terminal Cost Functionals and Terminal Regions for Model Predictive Control of Nonlinear Time-Delay Systems

Abstract

AbstractIn this work, we present results on model predictive control (MPC) for nonlinear time-delay systems. MPC is one of the few control methods which can deal effectively with constrained nonlinear time-delay systems. In order to guarantee stability of the closed-loop, a local control Lyapunov functional in a region around the origin is in general utilized as terminal cost. It is well-known for delayfree systems that a control Lyapunov function calculated for the Jacobi linearization about the origin can also be used as a terminal cost for the nonlinear system for an appropriately chosen terminal region. However, the infinite-dimensional nature of time-delay systems circumvents a straight-forward extension of those schemes to time-delay systems. We present two schemes for calculating stabilizing design parameters based on the Jacobi linearization of the nonlinear time-delay system. The two schemes are based on different assumptions and yield different types of terminal regions. We compare the properties and discuss advantages and disadvantages of both schemes.KeywordsTerminal RegionModel Predictive ControlNonlinear Model Predictive ControlTerminal ConstraintControl Lyapunov FunctionThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.