文章基本信息

标题：Experimental Speedup and Stability Validation for Multi-Step MPC
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作者：Mohamed W. Mehrez ; Karl Worthmann ; George K.I. Mann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：8698-8703
DOI：10.1016/j.ifacol.2017.08.1551
语种：English
出版社：Elsevier
摘要：AbstractIn 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.
关键词：Keywordsmodel predictive controlinherent robustnessprediction horizonexperimental validation