| Autor: |
Mehrez, Mohamed W., Worthmann, Karl, Mann, George K.I., Gosine, Raymond G., Pannek, Jürgen |
| Zdroj: |
IFAC-PapersOnLine; July 2017, Vol. 50 Issue: 1 p8698-8703, 6p |
| Abstrakt: |
In this paper, we propose a multi-step model predictive control (MPC) scheme without stabilizing constraints and/or costs. Within this work, a relaxed Lyapunov inequality is employed to verify asymptotic stability of the MPC closed loop. To this end, prior work is adapted to a trajectory based setting. The approach works for shorter prediction horizons in comparison to single-step MPC, but requires to stay in open loop for longer periods of time. We propose a technique to mitigate this drawback during runtime of the algorithm such that we benefit from the inherent robustness of single-step MPC. Then, we present a prime experimental validation of the proposed control scheme on a skid-steering mobile robot and show that the computational effort is significantly reduced. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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