Nonlinear model predictive control for models in quasi-linear parameter varying form

Publikationstyp
Journal Article
Date Issued
2020-07-10
Sprache
English
Author(s)
Cisneros, Pablo S. G.  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/7745
Journal
International journal of robust and nonlinear control  
Volume
30
Issue
10
Start Page
3945
End Page
3959
Citation
International Journal of Robust and Nonlinear Control 10 (30): 3945-3959 (2020-07-10)
Publisher DOI
10.1002/rnc.4973
Scopus ID
2-s2.0-85084199390
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.
Subjects
efficient algorithms
linear matrix inequality
nonlinear model predictive control
quasi-linear parameter varying systems