Practical NMPC suboptimality estimates along trajectories
نویسندگان
چکیده
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. The proposed a posteriori and a priori methods yield estimates which are evaluated online along the computed closed–loop trajectories and only use numerical information which is readily available in the scheme.
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ورودعنوان ژورنال:
- Systems & Control Letters
دوره 58 شماره
صفحات -
تاریخ انتشار 2009