Dual-objective NMPC : considering economic costs near manifolds

Publikationstyp
Conference Paper
Date Issued
2019-09-01
Sprache
English
Author(s)
Van Duijkeren, Niels
Faulwasser, Timm  
Pipeleers, Goele
TORE-URI
https://hdl.handle.net/11420/46226
Journal
IEEE transactions on automatic control  
Volume
64
Issue
9
Start Page
3788
End Page
3795
Article Number
8573844
Citation
IEEE Transactions on Automatic Control 64 (9): 3788-3795 (2019)
Publisher DOI
10.1109/TAC.2018.2886177
Scopus ID
2-s2.0-85058626415
Publisher
IEEE
ISSN
00189286
This paper presents a dual-objective nonlinear model predictive control (NMPC) algorithm for stabilizing a target neighborhood of a state-space manifold of a nonlinear dynamical system and for concurrently optimizing an economic objective in this neighborhood. The control design is based on the transverse normal form description of the system dynamics. The NMPC scheme solves two optimal control problems (OCPs) in sequence, the first (transversal) OCP provides conditions for the convergence to the target neighborhood. The second (tangential) OCP optimizes the economic objective without compromising the convergence. The stability and performance properties of the resulting control scheme are discussed and its efficacy is illustrated in a tutorial example.
Subjects
Economic NMPC
Manifold stabilization
Nonlinear model predictive control (NMPC)
Transverse normal forms (TNFs)
DDC Class
004: Computer Sciences
510: Mathematics