Details
| Original language | English |
|---|---|
| Title of host publication | 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 7599-7604 |
| Number of pages | 6 |
| ISBN (print) | 9781612848006 |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: 12 Dec 2011 → 15 Dec 2011 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| ISSN (Print) | 0743-1546 |
| ISSN (electronic) | 2576-2370 |
Abstract
This work presents an unconstrained model predictive control (MPC) scheme for nonlinear time-delay systems with guaranteed closed-loop stability using neither terminal constraints nor terminal weighting terms. Therefore, we do not require the calculation of control Lyapunov-Krasovskii functionals for the nonlinear time-delay system and obtain a computationally more attractive online optimization problem. Based on similar previous results for discrete-time systems and finite-dimensional continuous-time systems, an extended asymptotic controllability assumption suitable for nonlinear time-delay systems is introduced. Since the stage cost is not positive definite in the full state, but only penalizes the instantaneous state of the system, additional arguments are required in order to guarantee closed-loop stability. It is particularly interesting to note that in contrast to essentially all other MPC schemes with guaranteed stability, the optimal cost is not used as Lyapunov function(al) of the closed-loop, and indeed the optimal cost can increase along trajectories of the closed loop due to the influence of the delayed states.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Modelling and Simulation
- Mathematics(all)
- Control and Optimization
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2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 7599-7604 6160266 (Proceedings of the IEEE Conference on Decision and Control).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Unconstrained model predictive control and suboptimality estimates for nonlinear time-delay systems
AU - Reble, Marcus
AU - Muller, Matthias A.
AU - Allgower, Frank
PY - 2011
Y1 - 2011
N2 - This work presents an unconstrained model predictive control (MPC) scheme for nonlinear time-delay systems with guaranteed closed-loop stability using neither terminal constraints nor terminal weighting terms. Therefore, we do not require the calculation of control Lyapunov-Krasovskii functionals for the nonlinear time-delay system and obtain a computationally more attractive online optimization problem. Based on similar previous results for discrete-time systems and finite-dimensional continuous-time systems, an extended asymptotic controllability assumption suitable for nonlinear time-delay systems is introduced. Since the stage cost is not positive definite in the full state, but only penalizes the instantaneous state of the system, additional arguments are required in order to guarantee closed-loop stability. It is particularly interesting to note that in contrast to essentially all other MPC schemes with guaranteed stability, the optimal cost is not used as Lyapunov function(al) of the closed-loop, and indeed the optimal cost can increase along trajectories of the closed loop due to the influence of the delayed states.
AB - This work presents an unconstrained model predictive control (MPC) scheme for nonlinear time-delay systems with guaranteed closed-loop stability using neither terminal constraints nor terminal weighting terms. Therefore, we do not require the calculation of control Lyapunov-Krasovskii functionals for the nonlinear time-delay system and obtain a computationally more attractive online optimization problem. Based on similar previous results for discrete-time systems and finite-dimensional continuous-time systems, an extended asymptotic controllability assumption suitable for nonlinear time-delay systems is introduced. Since the stage cost is not positive definite in the full state, but only penalizes the instantaneous state of the system, additional arguments are required in order to guarantee closed-loop stability. It is particularly interesting to note that in contrast to essentially all other MPC schemes with guaranteed stability, the optimal cost is not used as Lyapunov function(al) of the closed-loop, and indeed the optimal cost can increase along trajectories of the closed loop due to the influence of the delayed states.
UR - http://www.scopus.com/inward/record.url?scp=84860683787&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6160266
DO - 10.1109/CDC.2011.6160266
M3 - Conference contribution
AN - SCOPUS:84860683787
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 7599
EP - 7604
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -