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Nonlinear Model Predictive Control
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 stateExpand
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Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
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
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Infinite Horizon Optimal Control
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 mainExpand
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Numerical Optimal Control of Nonlinear Systems
TLDR
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
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Safety Requirements in Collaborative Human-Robot Cyber-Physical System
TLDR
The paper identifies the basic technology and functional requirements of a cyber-physical system to control human–robot collaboration in an industrial environment. Expand
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Practical NMPC suboptimality estimates along trajectories
TLDR
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
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Analysis of unconstrained NMPC schemes with incomplete optimization
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 basedExpand
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Receding Horizon Control: A Suboptimality-based Approach
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A networked unconstrained nonlinear MPC scheme
TLDR
In this paper we propose an MPC scheme with a compensation mechanism for packet dropouts in a network connection between controller and actuator. Expand
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