Experimental Speedup and Stability Validation for Multi-Step MPC * *M.W. Mehrez, K. Worthmann, and J. Pannek are supported by the Deutsche Forschungsgemeinschaft, Grant WO 2056/1-1 and WO 2056/4-1. M.W. Mehrez, G.K.I. Mann, and R.G. Gosine are supported by Natural Sciences and Engineering Research Council of Canada (NSERC), the Research and Development Corporation (RDC), C-CORE J.I. Clark Chair, and Memorial University of Newfoundland
| Autor: | George K. I. Mann, Jürgen Pannek, Raymond G. Gosine, Mohamed W. Mehrez, Karl Worthmann |
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| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Speedup Lyapunov inequality Computer science 020208 electrical & electronic engineering Open-loop controller Stability (learning theory) Mobile robot 02 engineering and technology Model predictive control 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Robustness (computer science) Control theory 0202 electrical engineering electronic engineering information engineering Trajectory |
| Zdroj: | IFAC-PapersOnLine. 50:8698-8703 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2017.08.1551 |
| Popis: | 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: | OpenAIRE |
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