TY - GEN
T1 - Finite-Time Model Predictive Control for Constrained Continuous-Time Systems
AU - Zhu, Bing
AU - Yuan, Xiaozhuoer
AU - Ye, Xianming
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. The proposed finite-time MPC is ex-tended from the methodology for discrete-time systems, where the control horizon is set equal to the system dimension, and only terminal cost is penalized in the optimization. Zero-Order-Holder (ZOH) is applied to ensure that no ripple exists between two consecutive sampling intervals, such that finite-time tran-sient process and zero steady-state error can be guaranteed. Combined with feedback linearization, the proposed deadbeat MPC is applicable to nonlinear continuous-time systems.
AB - In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. The proposed finite-time MPC is ex-tended from the methodology for discrete-time systems, where the control horizon is set equal to the system dimension, and only terminal cost is penalized in the optimization. Zero-Order-Holder (ZOH) is applied to ensure that no ripple exists between two consecutive sampling intervals, such that finite-time tran-sient process and zero steady-state error can be guaranteed. Combined with feedback linearization, the proposed deadbeat MPC is applicable to nonlinear continuous-time systems.
KW - Model predictive control
KW - constraints
KW - finite-time control
UR - https://www.scopus.com/pages/publications/85217383068
U2 - 10.1109/ICARCV63323.2024.10821501
DO - 10.1109/ICARCV63323.2024.10821501
M3 - 会议稿件
AN - SCOPUS:85217383068
T3 - 2024 18th International Conference on Control, Automation, Robotics and Vision, ICARCV 2024
SP - 308
EP - 313
BT - 2024 18th International Conference on Control, Automation, Robotics and Vision, ICARCV 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Control, Automation, Robotics and Vision, ICARCV 2024
Y2 - 12 December 2024 through 15 December 2024
ER -