Stabilization of strictly pre-dissipative nonlinear receding horizon control by terminal costs

TL;DR

This paper demonstrates that stabilizing nonlinear receding horizon control can be achieved using bounded terminal costs instead of strict pre-dissipativity conditions, simplifying the control design.

Contribution

It introduces an alternative stabilization method for nonlinear receding horizon control using bounded terminal costs, replacing the need for strict pre-dissipativity.

Findings

Bounded terminal costs can stabilize the closed-loop system.

The approach simplifies the control design process.

Stability is maintained with less restrictive conditions.

Abstract

It is known that receding horizon control with a strictly pre-dissipative optimal control problem yields a practically asymptotically stable closed loop when suitable state constraints are imposed. In this note we show that alternatively suitably bounded terminal costs can be used for stabilizing the closed loop.