In this chapter, we introduce the nonlinear model predictive control algorithm in a rigorous way. We start by defining a basic NMPC algorithm for constant reference and continue by formalizing state… Expand

IEEE 51st IEEE Conference on Decision and Control…

13 June 2010

TLDR

For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints or costs.Expand

In this chapter we give an introduction to nonlinear infinite horizon optimal control. The dynamic programming principle as well as several consequences of this principle are proved. One of the main… Expand

In this chapter, we present methods for the numerical solution of the constrained finite horizon nonlinear optimal control problems which occurs in each iterate of the NMPC procedure.Expand

The paper identifies the basic technology and functional requirements of a cyber-physical system to control human–robot collaboration in an industrial environment.Expand

In this paper we develop and illustrate methods for estimating the degree of suboptimality of receding horizon schemes with respect to infinite horizon optimal control.Expand

Abstract We analyze nominal NMPC schemes without stabilizing terminal constraints in which the online optimization is terminated prior to convergence to the optimum. We state a new stability based… Expand

In this paper we propose an MPC scheme with a compensation mechanism for packet dropouts in a network connection between controller and actuator.Expand