ANALYSIS OF UNCONSTRAINED NONLINEAR MPC SCHEMES WITH TIME VARYING CONTROL HORIZON

作者：Gruene Lars; Pannek Juergen; Seehafer Martin; Worthmann Karl

来源：SIAM Journal on Control and Optimization, 2010, 48(8): 4938-4962.

DOI：10.1137/090758696

• nonlinear model predictive control
• suboptimality
• stability
• controllability
• networked control systems

For discrete time nonlinear systems satisfying an exponential or finite time controllability assumption, we present an analytical formula for a suboptimality estimate for model predictive control schemes without stabilizing terminal constraints. Based on our formula, we perform a detailed analysis of the impact of the optimization horizon and the possibly time varying control horizon on stability and performance of the closed loop.

• 出版日期2010