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arXiv · 2409.10970

Contraction Analysis of Continuation Method for Suboptimal Model Predictive Control

Ryotaro Shima·Yuji Ito·Tatsuya Miyano
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Abstract

This letter analyzes the contraction property of the nonlinear systems controlled by suboptimal model predictive control (MPC) using the continuation method. We propose a contraction metric that reflects the hierarchical dynamics inherent in the continuation method. We derive a pair of matrix inequalities that elucidate the impact of suboptimality on the contraction of the optimally controlled closed-loop system. A numerical example is presented to verify our contraction analysis. Our results are applicable to other MPCs than stabilization, including economic MPC.

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Ryotaro Shima, Yuji Ito, Tatsuya Miyano. 2024-09-17. Contraction Analysis of Continuation Method for Suboptimal Model Predictive Control. https://doi.org/10.1109/lcsys.2024.3523584

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