Nonlinear Model Predictive Control with an Infinite Horizon Approximation
Current nonlinear model predictive control (NMPC) strategies are formulated as finite predictive horizon nonlinear programs (NLPs), which maintain NMPC stability and recursive feasibility through the construction of terminal cost functions and/or terminal constraints. However, computing these terminal properties may pose formidable challenges with a fixed horizon, particularly in the context of nonlinear dynamic processes. Motivated … Read more