On Model Predictive Funnel Control with Equilibrium Endpoint Constraints

Abstract

We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodology that achieves evolution of the measured output within predefined error margins. The proposed method dynamically optimizes a parameter-dependent error boundary in a receding-horizon manner, thereby combining prescribed error guarantees from funnel control with the predictive advantages of MPC. On the one hand, this approach promises faster optimization times due to a reduced number of decision variables, whose number does not depend on the horizon length. On the other hand, the continuous feedback law improves the robustness and also explicitly takes care of the inter-sampling behavior. We focus on proving stability by leveraging results from MPC stability theory with terminal equality constraints. Moreover, we rigorously show initial and recursive feasibility.