Mesh refinement for event-triggered nonlinear model predictive control
File(s)
Accepted version
Author(s)
Faqir, Omar
Kerrigan, Eric
Type
Conference Paper
Abstract
We consider the effect of using approximate system predictions in event-triggeredcontrol schemes. Such approximations often result from numerical transcription methods forsolving continuous-time optimal control problems. Mesh refinement schemes guarantee upperbounds on the error in the differential equations used to model system dynamics. In particular,we show that with the accuracy guarantees of a mesh refinement scheme, then event-triggeringschemes based on bounding the difference between predicted and measured state can be usedwith a guaranteed strictly positive inter-update time. We determine a lower bound for this timeand show that additional knowledge of the employed transcription method and evaluation ofthe approximation errors may be used to obtain better online estimates of inter-update times.This is the first work to consider using the solution accuracy of an optimal control problem asa metric for triggering new control updates.
Date Issued
2021-04-14
Date Acceptance
2020-02-26
Citation
IFAC-PapersOnLine, 2021, 53 (2), pp.6516-6521
ISSN
2405-8963
Publisher
IFAC Secretariat
Start Page
6516
End Page
6521
Journal / Book Title
IFAC-PapersOnLine
Volume
53
Issue
2
Copyright Statement
© 2021 Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence http://creativecommons.org/licenses/by-nc-nd/4.0/
Identifier
https://www.sciencedirect.com/science/article/pii/S2405896320303165
Source
21st IFAC World Congress
Publication Status
Published
Start Date
2020-07-12
Finish Date
2020-07-17
Coverage Spatial
Berlin, Germany
Date Publish Online
2021-04-14