Abstract Model predictive control (MPC) is widely accepted as a generic multivariable
controller with constraint handling. More recently, MPC has been extended to nonlinear …

Ensuring robust constraint satisfaction for an infinite-time horizon is a challenging, yet crucial
task when deploying safety-critical systems. In this article, we address this issue by …

Die effiziente Lösung von Optimierungsproblemen in Echtzeit bildet die Grundlage vieler
moderner Regelungs-und Schätzverfahren. So basieren die prädiktive Regelung sowie die …

A terminal penalty term and terminal constraints were introduced in the nonlinear MPC
(NMPC) formulation for establishing the nominal closed loop stability. A large terminal set …

The terminal cost and terminal set method for guaranteeing stability of nonlinear model
predictive control (MPC) closed–loop systems is theoretically appealing but often …

Establishing the stability of model predictive control formulation is challenging. Using a
combination of the terminal cost term and the terminal inequality constraint ie terminal set …

The control and operation of autonomous systems often involve different decision layers.
The higher control levels are responsible for the planning and perception and operate on a …

Predictive control is frequently used for control problems involving constraints. Being an
optimization based technique utilizing a user specified so-called stage cost, performance …

Ensuring nominal asymptotic stability of the Nonlinear Model Predictive Control controller is
not trivial. Stabilizing ingredients such as terminal penalty term and terminal region are …

Ensuring asymptotic stability of the Nonlinear Model Predictive Control formulation is not
trivial. Stabilizing ingredients such as terminal cost term and terminal set are necessary …