Convergence guarantees for adaptive model predictive control with kinky inference

作者: Riccardo Zuliani, Raffaele Soloperto, John Lygeros

分类: math.OC, eess.SY

发布日期: 2023-12-18 (更新: 2024-05-30)

📄 摘要（原文）

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.