Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon

Titelangaben

Grüne, Lars ; Pannek, Jürgen ; Seehafer, Martin ; Worthmann, Karl:
Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon.
In: SIAM Journal on Control and Optimization. Bd. 48 (2010) Heft 8 . - S. 4938-4962.
ISSN 1095-7138
DOI: https://doi.org/10.1137/090758696

Weitere URLs

Abstract

For discrete time nonlinear systems satisfying an exponential or finite time controllability assumption, we present an analytical formula for a suboptimality estimate for model predictive control schemes without stabilizing terminal constraints. Based on our formula, we perform a detailed analysis of the impact of the optimization horizon and the possibly time varying control horizon on stability and performance of the closed loop.