Practical NMPC suboptimality estimates along trajectories

Titelangaben

Grüne, Lars ; Pannek, Jürgen:
Practical NMPC suboptimality estimates along trajectories.
Bayreuth , 2008

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Abstract

In this paper we develop and illustrate methods for estimating the degree of suboptimality of receding horizon schemes with respect to infinite horizon optimal control. The proposed a posteriori and a priori methods yield estimates which are evaluated online along the computed closed-loop trajectories and only use numerical information which is readily available in the scheme.