Aggregation based nonlinear model predictive controller with stability analysis

An aggregation based nonlinear model predictive controller (ABNMPC) is proposed for constrained nonlinear systems. Through aggregation, the no-line computation for nonlinear predictive control can be reduced. Stability of the system controlled by the aggregation based predictive control strategy is discussed. It is pointed out that the system is asymptotically stable if the terminal state lies in a certain set and the decaying aggregation coefficient satisfies some conditions. The conclusions are verified through a simulation example.