NMPC without terminal constraints
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In existing MPC without terminal ingredients, prediction is based on a nominal model requiring identification of the nominal model with high precision, whereas the proposed IMPC employs the incremental model based on TDE and thus it is not necessary to identify the model of f(x) and g(x).
“In existing MPC without terminal ingredients, comparing [17] and [18], the prediction is based on a nominal model. This requires to first identify the nominal model of the plant with high precision, whereas the proposed IMPC approach employs the incremental model based on TDE and, thus, it is not necessary to identify the model of f ( x ) and g ( x ) in (2b).”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [17]
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Experimental — accuracy not yet measuredDue to uncertainties and/or disturbances, the Lyapunov stability established for the nominal system is not simply transferable, and input-to-state stability is required to be considered.
“Due to uncertainties and/or disturbances, the Lyapunov stability that was established for the nominal system is not simply transferable [17], [18], and input-to-state stability (ISS), also known as practical Lyapunov stability, is required to be considered.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [17]
Section 3.2 (p. 4) establishes a Lyapunov function for the NMPC closed loop and concludes asymptotic stability under its stated assumptions. The passages found do not address whether that stability transfers to systems with uncertainties or disturbances, or say that input-to-state stability must be considered. (LLM, conf=0.83)
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
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- Authors
- Grüne, L.
- Affiliations
- University of Bayreuth (DE)
- Corresponding author
- Grüne, Lars
- ORCID
- Grüne, Lars
- Venue
- IFAC Proceedings Volumes
- Publisher
- Elsevier BV
- Published
- 2012
- Volume
- 45
- Issue
- 17
- Pages
- 1-13
- ISSN
- 1474-6670 (ISSN-L)
- OpenAlex
- W2045332133
- Cited by
- 128
- References
- 37
- Citations by year
- 2026: 4 · 2025: 11 · 2024: 7 · 2023: 16 · 2022: 11 · 2021: 16 · 2020: 15 · 2019: 7 · 2018: 11 · 2017: 1 · 2016: 6 · 2015: 6 · 2014: 12 · 2013: 4
- FWCI
- 11.29
- Type
- conference paper
- Language
- en
- Open access
- green
- epub.uni-bayreuth.de
- Locations
- IFAC Proceedings Volumes (publishedVersion)
- EPub Bayreuth (University of Bayreuth) (acceptedVersion, cc-by)
- HAL (submittedVersion)
- ERef Bayreuth (University of Bayreuth) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Mathematics › Numerical Analysis › Advanced Optimization Algorithms Research
- Physical Sciences › Computer Science › Computational Theory and Mathematics › Optimization and Variational Analysis
- Keywords
- nonlinear model predictive control, terminal constraints, economic model predictive control, recursive feasibility, exponential convergence, stability analysis, performance evaluation
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