Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons
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Publication:6231973
arXiv1203.6783MaRDI QIDQ6231973FDOQ6231973
Lars Grüne, Jürgen Pannek, Martin Seehafer, Karl Worthmann
Publication date: 30 March 2012
Abstract: For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints or costs. The condition is given in terms of an analytical formula which can be employed in order to determine a prediction horizon length for which asymptotic stability or a performance guarantee is ensured. Based on this formula a sensitivity analysis with respect to the prediction and the possibly time varying control horizon is carried out.
Controllability (93B05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Feedback control (93B52) Sampled-data control/observation systems (93C57) Stabilization of systems by feedback (93D15) Asymptotic stability in control theory (93D20)
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