A Generalized Stopping Criterion for Real-Time MPC with Guaranteed Stability
A Generalized Stopping Criterion for Real-Time MPC with Guaranteed Stability
Most of the real-time implementations of the stabilizing optimal control actions suffer from the necessity to provide high computational effort. This paper presents a cutting-edge approach for real-time evaluation of linear-quadratic model predictive control (MPC) that employs a novel generalized stopping criterion, achieving asymptotic stability in the presence of input …