Stabilising predictive control of non-linear time-delay systems using control Lyapunov–Krasovskii functionals

Abstract

Motivated by using appropriate control Lyapunov function (CLF) as a terminal cost in stabilising receding horizon control of non-linear delay-free systems, the authors propose a predictive control scheme with guaranteed closed-loop stability for non-linear time-delay systems utilising control Lyapunov–Krasovskii functional (CLKF). In this approach, stability can be attained without imposing any terminal constraints. The absence of additional constraints results in a significant speedup in computation. Illustrative example shows the effectiveness of the method.