DFG Project "Development of asynchronous predictive control methods for digitally networked dynamical systems"

start of the project: 2007 , end of the project: 2010

contract number: GR 1569/12-1

funding institution:

DFG (Priority Programme 1305)

project members

principal investigator

Prof. Dr. Lars Grüne

project members

Jun.-Prof. Dr. Karl Worthmann

Dr. Nils Altmüller

Dr. Thomas Jahn

Prof. Dr. Jürgen Pannek

external project members

Frank Allgöwer, Dipl.-Ing. Marcus Reble (University of Stuttgart)

Rolf Findeisen, M.Sc.-Eng. Paolo Varutti (Otto-von-Guericke University of Magdeburg)

aims of the project

The aim of this interdisciplinary cooperation project is the development of innovative asynchronous predictive control methods for nonlinear systems with special focus on non-deterministic networks for transmitting data. Especially, methods will be developed and analyzed with which the stability of closed-loop could be rigorously guaranteed, although variable delays and possible loss of data packages could occur. Furthermore, it will be investigated how the exchange of data between controller, sensor and actuator could be minimized with the help of predictive methods. Predictive control methods are well suited for the incorporation of delays and loss of data packages, since – as suggested in the project proposal – they allow

  1. to take into account explicitely occuring asynchronous structures and
  2. a "compensation" of occuring delays/losses of data packages within the applied prediction of the actuator values.

The control methods which will be developed should be universally applicable similar to traditional predictive control methods and should take into account the asynchronous structure/behaviour of the digitally linked network already within the design phase.

For further information see the web page on the project.

publications

L. Grüne, M. Sigurani: Numerical ISS controller design via a dynamic game approach
in: Proceedings of the 52nd IEEE Conference on Decision and Control - CDC 2013, 2013, 1732 - 1737

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N. Altmüller, L. Grüne: A comparative stability analysis of Neumann and Dirichlet boundary MPC for the heat equation
in: Proceedings of the 1st IFAC Workshop on Control of Systems Modeled by Partial Differential Equations - CPDE 2013, 2013, 161 - 166, Paper #48

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K. Worthmann: Estimates on the Prediction Horizon Length in Model Predictive Control
in: Proceedings of the 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS2012), Melbourne, Australia, 2012, MTNS2012_0112_paper.pdf

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L. Grüne, J. Pannek, M. Seehafer, K. Worthmann: Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizon
in: Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii, 2012, 2605 - 2610

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L. Grüne, J. Pannek, K. Worthmann: Ensuring Stability in Networked Systems with Nonlinear MPC for Continuous Time Systems
in: Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii, 2012, 14 - 19

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N. Altmüller, L. Grüne: Distributed and boundary model predictive control for the heat equation
GAMM Mitteilungen 35 (2), 131 - 145, 2012

DOI: 10.1002/gamm.201210010
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L. Grüne, J. Pannek: Nonlinear Model Predictive Control: Theory and Algorithms
in: xii + 370 pages, Communications and Control Engineering, Springer Verlag, 2011, xii + 370 pages

DOI: 10.1007/978-0-85729-501-9


R. Findeisen, L. Grüne, J. Pannek, P. Varutti: Robustness of prediction based delay compensation for nonlinear systems
in: Proceedings of the 18th IFAC World Congress, Milano, Italy, 2011, 203 - 208

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T. Jahn, J. Pannek: Stability of Constrained Adaptive Model Predictive Control Algorithms
in: Proceedings of the 18th IFAC World Congress, Milano, Italy, 2011, 9272 - 9277

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K. Worthmann: Stability Analysis of Unconstrained Receding Horizon Control Schemes
PhD thesis, Bayreuth, Germany, 2011


L. Grüne: Worst case vs. average performance estimates for unconstrained NMPC schemes
in: Proceedings of the GAMM Annual Meeting, Karlsruhe, Germany, 2010, 607 - 608

DOI: 10.1002/pamm.201010296
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L. Grüne, J. Pannek, M. Seehafer, K. Worthmann: Analysis of unconstrained nonlinear MPC schemes with varying control horizon
SIAM Journal on Control and Optimization 48 (8), 4938 - 4962, 2010

DOI: 10.1137/090758696
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N. Altmüller, L. Grüne, K. Worthmann: Receding Horizon optimal control for the wave equation
in: Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, 2010, 3427 - 3432

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N. Altmüller, L. Grüne, K. Worthmann: Instantaneous control of the linear wave equation
in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2010), Budapest, Hungary, 2010, 1895 - 1899

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N. Altmüller, L. Grüne, K. Worthmann: Performance of NMPC schemes without stabilizing terminal constraints
in: Recent Advances in Optimization and its Applications in Engineering, M. Diehl, F. Glineur, E. Jarlebring, W. Michiels (eds.)
Springer Verlag, 2010, 289 - 298

DOI: 10.1007/978-3-642-12598-0_25
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L. Grüne, J. Pannek: Analysis of unconstrained NMPC schemes with incomplete optimization
in: Proceedings of NOLCOS 2010, Bologna, Italy, 2010, 238 - 243

DOI: 10.3182/20100901-3-IT-2016.00124
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L. Grüne, J. Pannek, K. Worthmann: A networked unconstrained nonlinear MPC scheme
in: Proceedings of the European Control Conference (ECC) 2009, Budapest, Hungary, 2009, 371 - 376

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L. Grüne: Analysis and design of unconstrained nonlinear MPC schemes for finite and infinite dimensional systems
SIAM Journal on Control and Optimization 48, 1206 - 1228, 2009

DOI: 10.1137/070707853
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L. Grüne, J. Pannek, K. Worthmann: A prediction based control scheme for networked systems with delays and packet dropouts
in: Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, 2009, 537 - 542

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L. Grüne, J. Pannek: Practical NMPC suboptimality estimates along trajectories
Systems & Control Letters 58, 161 - 168, 2009

DOI: 10.1016/j.sysconle.2008.10.012
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L. Grüne, A. Rantzer: On the infinite horizon performance of receding horizon controllers
IEEE Transactions on Automatic Control 53, 2100 - 2111, 2008

DOI: 10.1109/TAC.2008.927799
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L. Grüne, J. Pannek: Trajectory based suboptimality estimates for receding horizon controllers
in: Proceedings of the 18th International Symposium on Mathematical Theory of Networks and Systems (MTNS2008), CD-Rom, Paper 023.pdf, 6 pages, Blacksburg, Virginia, 2008,

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Chair -

|  University of Bayreuth -