Optimal infinite-horizon feedback laws for a general class of constrained discrete-time systems: Stability and moving-horizon approximations |
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| Authors: | S. S. Keerthi E. G. Gilbert |
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| Affiliation: | (1) School of Automation, Indian Institute of Science, Bangalore, India;(2) Department of Aerospace Engineering, University of Michigan, Ann Arbor, Michigan |
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| Abstract: | Stability results are given for a class of feedback systems arising from the regulation of time-varying discrete-time systems using optimal infinite-horizon and moving-horizon feedback laws. The class is characterized by joint constraints on the state and the control, a general nonlinear cost function and nonlinear equations of motion possessing two special properties. It is shown that weak conditions on the cost function and the constraints are sufficient to guarantee uniform asymptotic stability of both the optimal infinite-horizon and moving-horizon feedback systems. The infinite-horizon cost associated with the moving-horizon feedback law approaches the optimal infinite-horizon cost as the moving horizon is extended. |
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| Keywords: | Discrete-time systems infinite-horizon optimal control moving-horizon control state-control constraints nonquadratic cost functions stability |
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