Robustness of performance and stability for multistep and updated multistep MPC schemes
Open accessAbstract
We consider a model predictive control approach to approximate the solution of infinite horizon optimal control problems for perturbed nonlinear discrete time systems. By reducing the number of re-optimizations, the computational load can be lowered considerably at the expense of reduced robustness of the closed-loop solution against perturbations. In this paper, we propose and analyze an update strategy based on re-optimizations on shrinking horizons which is computationally less expensive than that based on full horizon re-optimization, and at the same time allowing for rigorously quantifiable robust performance estimates.
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If the method in [34] and [35] is applied, the cumulative error bound rises with increasing N.
“It still results in the rise of the cumulative error bound with increasing N , if the method in [34] and [35] is applied.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [34]
Section 6 (pp. 13–15) derives perturbation and performance bounds over a finite horizon N, but the readable passages do not say that a cumulative error bound rises as N increases. I searched for cumulative error and increasing-horizon error bounds; the relevant formulas are not decoded in our copy, so they cannot settle that trend. (LLM, conf=0.70)
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Cites
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Self-citationAnalysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
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Research works printed but not linked: 1
- [12][12] H. K. Khalil, Nonlinear Systems , Prentice Hall PTR, 2002. -
Cited by
Sorted by citations
Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
- Authors
- Grüne, L., & Palma, V. G.
- Affiliations
- University of Bayreuth (DE)
- ORCID
- Grüne, Lars
- Venue
- Discrete and Continuous Dynamical Systems
- Published
- 2015
- Volume
- 35
- Issue
- 9
- Pages
- 4385-4414
- ISSN
- 1078-0947 (ISSN-L)
- 1553-5231
- OpenAlex
- W2026367073
- Cited by
- 20
- References
- 18
- Citations by year
- 2024: 1 · 2023: 1 · 2022: 4 · 2021: 2 · 2020: 2 · 2019: 2 · 2018: 2 · 2017: 2 · 2016: 3 · 2015: 1
- FWCI
- 2.47
- Type
- journal article
- Language
- en
- Open access
- green
- inria.hal.science
- Licence
- other-oa
- Locations
- Discrete and Continuous Dynamical Systems (publishedVersion)
- EPub Bayreuth (University of Bayreuth) (acceptedVersion)
- HAL (submittedVersion, other-oa)
- 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 › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- model predictive control, robustness, closed-loop stability, infinite horizon optimal control, discrete-time nonlinear systems, perturbed systems, reoptimization, computational complexity reduction
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