Nonlinear model predictive control for models in quasi-linear parameter varying form
International Journal of Robust and Nonlinear Control 10 (30): 3945-3959 (2020-07-10)
This article presents a nonlinear model predictive control (NMPC) approach based on quasi-linear parameter varying (quasi-LPV) representations of the model and constraints. Stability of the proposed algorithm is ensured by the offline solution of an optimization problem with linear matrix inequality constraints in conjunction with an online terminal state constraint. Furthermore, an iterative approach is presented with which the NMPC optimization problem can be handled by solving a series of Quadratic Programs at each time step, this being highly computationally efficient. A practical and simple way of obtaining quasi-LPV representations of the system using velocity-based linearization is presented in two examples.
linear matrix inequality
nonlinear model predictive control
quasi-linear parameter varying systems