Stabilising terminal cost and terminal controller for ℓasso-MPC: enhanced optimality and region of attraction

In recent literature, ℓ
₁
-regularised MPC, or ℓ
_asso
-MPC, has been recommended for control tasks involving complex requirements on the control signals, for instance, the simultaneous solution of regulation and sharp control allocation for redundantly-actuated systems. This is due to the implicit thresholding ability of LASSO regression. In this paper, a stabilising terminal cost featuring a mixed ℓ
₁
/ℓ
₂
²
penalty is presented. Then, a candidate terminal controller is computed, with the aim of enlarging the region of attraction.