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A networked unconstrained nonlinear MPC scheme

Title data

Grüne, Lars ; Pannek, Jürgen ; Worthmann, Karl:
A networked unconstrained nonlinear MPC scheme.
In: Proceedings of the European Control Conference (ECC). - Piscataway, New Jersey : IEEE , 2009 . - pp. 371-376
ISBN 978-3-9524173-9-3
DOI: https://doi.org/10.23919/ECC.2009.7074430

Official URL: Volltext

Abstract in another language

In this paper we propose an MPC scheme with a compensation mechanism for packet dropouts in a network connection between controller and actuator. We provide a stability and suboptimality analysis of the scheme based on asymptotic controllability properties and show that for large classes of systems we obtain the same stability conditions as for classical MPC and in particular stability for sufficiently large optimization horizon. As a byproduct, we observe that longer control horizons may improve the performance of the MPC closed loop. We illustrate our results by the standard inverted pendulum on a cart problem.

Further data

Item Type: Article in a book
Refereed: Yes
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) > Chair Mathematics V (Applied Mathematics) - Univ.-Prof. Dr. Lars Grüne
Faculties
Faculties > Faculty of Mathematics, Physics und Computer Science
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics)
Result of work at the UBT: Yes
DDC Subjects: 500 Science > 510 Mathematics
Date Deposited: 23 Feb 2021 14:09
Last Modified: 23 Mar 2021 09:12
URI: https://eref.uni-bayreuth.de/id/eprint/63390