Convergence guarantees for adaptive model predictive control with kinky inference
Optimization and Control
2024-05-31 v2 Systems and Control
Systems and Control
Abstract
We analyze the convergence properties of a robust adaptive model predictive control algorithm used to control an unknown nonlinear system. We show that by employing a standard quadratic stabilizing cost function, and by recursively updating the nominal model through kinky inference, the resulting controller ensures convergence of the true system to the origin, despite the presence of model uncertainty. We illustrate our theoretical findings through a numerical simulation.
Cite
@article{arxiv.2312.11329,
title = {Convergence guarantees for adaptive model predictive control with kinky inference},
author = {Riccardo Zuliani and Raffaele Soloperto and John Lygeros},
journal= {arXiv preprint arXiv:2312.11329},
year = {2024}
}