Analysis of unconstrained nonlinear MPC schemes with time varying control horizon

Author

Grune, Lars ; Pannek, J. ; Seehafer, M. ; Worthmann, Karl

Author_Institution

Math. Inst., Univ. of Bayreuth, Bayreuth, Germany

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

2605

Lastpage

2610

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.

Keywords

controllability; discrete time systems; nonlinear control systems; predictive control; sensitivity analysis; stability; time-varying systems; analytical formula; asymptotic stability; controllability condition; costs; model predictive control; nonlinear discrete time systems; performance guarantee; prediction horizon length; sensitivity analysis; stability condition; terminal constraints; time varying control horizon; unconstrained nonlinear MPC schemes; Asymptotic stability; Indexes; Numerical stability; Optimal control; Optimization; Stability criteria;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426581

Filename

6426581