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Parameter-dependent stability conditions for quasi-LPV Model Predictive Control
Publikationstyp
Conference Paper
Date Issued
2017-07-03
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
5032
End Page
5037
Article Number
7963735
Citation
Proceedings of the American Control Conference: 7963735, 5032-5037 (2017)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
This paper extends earlier work on nonlinear predictive control based on a representation of the nonlinear plant as quasi-LPV model. Since the scheduling parameters depend on state variables and inputs, they can be predicted. An efficient predictive scheme with guaranteed stability is proposed that involves solving a sequence of SOCP problems at each sampling period. Compared with previously reported work, the conservatism of the approach is reduced by allowing matrix variables in the stability conditions to be parameter dependent. The efficiency of the proposed method is illustrated with its application in simulation to a model of an arm-driven inverted pendulum. A comparison with other state-of-the-art NMPC methods is made to highlight the benefits of the proposed approach both in terms of closed-loop performance and computation time.
DDC Class
600: Technik