Receding horizon predictive control for nonlinear time-delay systems with and without input constraints

Abstract

This paper proposes a receding horizon predictive control (RHPC) for nonlinear time-delay systems. The control law is obtained by minimizing finite horizon cost with a terminal weighting functional. An inequality condition on the terminal weighting functional is presented, under which the closed-loop stability of RHPC is guaranteed. It is also shown that the stability can be guaranteed for input-constrained systems under an additional functional inequality constraint on the terminal state trajectory. A special class of nonlinear timedelay systems is introduced and a systematic method to find a terminal weighting functional satisfying the proposed inequality condition is given for these systems. Through a simulation example, it is demonstrated that the proposed RHPC has the guaranteed closed-loop stability for nonlinear time-delay systems with and without input constraints.