Stabilizing model predictive control for nonlinear systems in input-output quasi-LPV form

Publikationstyp
Conference Paper
Date Issued
2019-07
Sprache
English
Author(s)
Cisneros, Pablo S. G.  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/3450
Volume
2019
Start Page
1002
End Page
1007
Article Number
8814342
Citation
Proceedings of the American Control Conference : 8814342 (2019-07)
Contribution to Conference
American Control Conference, ACC 2019  
Scopus ID
2-s2.0-85072278617
This paper present a Nonlinear Model Predictive Control (NMPC) scheme for systems in input-output quasi-Linear Parameter Varying (IO-qLPV) form. Stability is guaranteed by the use of terminal ingredients: a terminal cost associated with a control Lyapunov function, with a dual mode controller within a terminal constraint set. These terminal ingredients are computed offline by solving an LMI problem, using a recent result from IO-LPV literature. Online computational complexity is kept low by solving the nonlinear optimization problem as a sequence of Quadratic Programs. A simulation example on a 2-DOF robotic manipulator illustrates the approach and the computation of the terminal ingredients.