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Reducing the Prediction Horizon in NMPC : An Algorithm Based Approach

Title data

Pannek, Jürgen ; Worthmann, Karl:
Reducing the Prediction Horizon in NMPC : An Algorithm Based Approach.
In: IFAC Proceedings Volumes. Vol. 44 (2011) Issue 1 . - pp. 7969-7974.
ISSN 1474-6670
DOI: https://doi.org/10.3182/20110828-6-IT-1002.00916

Abstract in another language

In order to guarantee stability, known results for MPC without additional terminal costs or endpoint constraints often require rather large prediction horizons. Still, stable behavior of closed loop solutions can often be observed even for shorter horizons. Here, we make use of the recent observation that stability can be guaranteed for smaller prediction horizons via Lyapunov arguments if more than only the first control is implemented. Since such a procedure may be harmful in terms of robustness, we derive conditions which allow to increase the rate at which state measurements are used for feedback while maintaining stability and desired performance specifications. Our main contribution consists in developing two algorithms based on the deduced conditions and a corresponding stability theorem which ensures asymptotic stability for the MPC closed loop for significantly shorter prediction horizons.

Further data

Item Type: Article in a journal
Refereed: Yes
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics)
Faculties
Faculties > Faculty of Mathematics, Physics und Computer Science
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics
Result of work at the UBT: Yes
DDC Subjects: 500 Science > 510 Mathematics
Date Deposited: 04 Mar 2021 13:10
Last Modified: 23 Mar 2021 09:12
URI: https://eref.uni-bayreuth.de/id/eprint/63702