Publisher DOI: 10.1109/TCST.2020.2979386
Title: A Velocity Algorithm for Nonlinear Model Predictive Control
Language: English
Authors: Cisneros, Pablo S. G. 
Werner, Herbert 
Issue Date: 9-Apr-2020
Source: IEEE Transactions on Control Systems Technology: 1-6 (2020)
Journal or Series Name: IEEE Transactions on Control Systems Technology 
Abstract (english): 
This brief presents a velocity-form nonlinear model predictive control (NMPC) scheme via velocity-based linearization. The main features of this approach are built-in offset-free control in the presence of disturbances, tracking of piecewise constant, possibly unreachable, reference signals, and simple implementation, as a parameterization of all equilibria is not necessary. Furthermore, the model in velocity form can be expressed as a quasi-linear parameter-varying (quasi-LPV) model, for which efficient online optimization algorithms exist. The proposed approach is experimentally validated on a 2-degree-of-freedom robotic manipulator, where its capabilities and efficiency are highlighted.
ISSN: 1063-6536
Institute: Regelungstechnik E-14 
Document Type: Article
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