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A networked unconstrained nonlinear MPC scheme

DOI zum Zitieren der Version auf EPub Bayreuth: https://doi.org/10.15495/EPub_UBT_00005587
URN to cite this document: urn:nbn:de:bvb:703-epub-5587-6

Title data

Grüne, Lars ; Pannek, Jürgen ; Worthmann, Karl:
A networked unconstrained nonlinear MPC scheme.
Bayreuth , 2009

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Abstract

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:	Preprint, postprint
Additional notes (visible to public):	erscheint in: Proceedings of the European Control Conference (ECC). - Piscataway, New Jersey : IEEE , 2009 . - S. 371-376 DOI: https://doi.org/10.23919/ECC.2009.7074430
DDC Subjects:	500 Science 500 Science > 510 Mathematics
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)
Language:	English
Originates at UBT:	Yes
URN:	urn:nbn:de:bvb:703-epub-5587-6
Date Deposited:	20 May 2021 13:11
Last Modified:	09 Jun 2021 09:20
URI:	https://epub.uni-bayreuth.de/id/eprint/5587

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