摘要30 多年来, 模型预测控制(Model predictive control, MPC) 的理论和技术得到了长足的发展,
但面对经济社会迅速发展对约束优化控制提出的不断增长的要求, 现有的模型预测控制理论和 …

For the last 30 years the theory and technology of model predictive control (MPC) have been
developed rapidly. However, facing the increasing requirements on the constrained …

In this paper we investigate stability and recursive feasibility of a nonlinear receding horizon
control scheme without terminal constraints and costs but imposing state and control …

We characterize the maximum controlled invariant (MCI) set for discrete-as well as
continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional …

In this paper, we present an online nonlinear Model Predictive Control (MPC) method for
collision-free, deadlock-free navigation by multiple autonomous nonholonomic Wheeled …

The book presents a significant expansion in depth and breadth of the previous edition. It
includes substantially more numerical illustrations and copious supporting MATLAB code …

One of the most fundamental problems in model predictive control (MPC) is the lack of
guaranteed stability and feasibility. It is shown how Farkas' Lemma in combination with …

We consider sampled-data Model Predictive Control (MPC) of nonlinear continuous-time
control systems. We derive sufficient conditions to guarantee recursive feasibility and …

Move blocking (MB) is a widely used strategy to reduce the degrees of freedom (DoFs) of the
optimal control problem (OCP) arising in receding horizon control. The size of the OCP is …

This technical note considers linear discrete-time systems with additive, bounded,
disturbances subject to hard control input bounds and a stochastic constraint on the amount …