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In this paper, we further analyze an economic model predictive control (MPC) algorithm with self-tuning terminal cost, which was recently proposed in [1]. It is shown that if a generalized terminal region constraint instead of a generalized terminal equality constraint is used, improved closed-loop asymptotic average performance bounds can be obtained. In particular, in contrast to the results in...
This paper addresses formation control problems for heterogeneous groups of unicycle type mobile agents with fixed cruising speed. The heterogeneity in the group is caused by the cruising speeds being nonidentical, which complicates the motion coordination problem but is of practical relevance, for example, in unmanned aerial vehicle applications. We show that two different types of collective circular...
In this paper, we further study the recently introduced notion of norm-controllability, which captures the responsiveness of a nonlinear system with respect to applied inputs in terms of the norm of an output map. We give sufficient conditions for this property based on higher-order lower directional derivatives, which generalize the results obtained in our earlier work and help to establish norm-controllability...
This work presents a novel model predictive control (MPC) scheme using a generalized integral terminal cost term. This generalized scheme exhibits close connections to recent results on unconstrained MPC as well as classical MPC using control Lyapunov functions as terminal weights. In particular, we show that both previous results can be regarded as limit cases of our setup. An example illustrates...
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