NDLI: Lyapunov-based adaptive model predictive control for unconstrained non-linear systems with parametric uncertainties

Content Provider	IET Digital Library
Author	Zhu, Bing Xia, Xiaohua
Abstract	In this study, a simple Lyapunov-based adaptive model predictive control (MPC) is proposed to stabilise a class of unconstrained non-linear systems with constant parametric uncertainties. In the proposed MPC design, the uncertain parameters are estimated online with an adaptive updating law, and the estimated parameters are guaranteed bounded. A Lyapunov-based constraint is employed in the adaptive MPC to ensure the stability of the closed-loop system. By using the control Lyapunov function-based constraint, terminal penalties in traditional MPC can be avoided, such that computational burden is significantly reduced. Both theoretical results and numerical examples demonstrate that, with the proposed adaptive MPC, states of the closed-loop system can be stabilised, while the adaptive estimated parameters are bounded.
Starting Page	1937
Ending Page	1943
Page Count	7
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 15, Oct (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/15
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0203
Journal	IET Control Theory & Applications
Publisher Date	2016-06-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Model Predictive Control Adaptive Updating Law Closed Loop System Closed-loop System Constant Parametric Uncertainties Control System Analysis Control System Synthesis Lyapunov Function-based Constraint Lyapunov Method MPC Design Nonlinear Control System Optimal Control Predictive Control Self Adjusting Control System Stability Stability in Control Theory Synthesis Method Terminal Penalties Uncertain System Unconstrained Nonlinear System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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