A Velocity Algorithm for Nonlinear Model Predictive Control

Publikationstyp
Journal Article
Date Issued
2021-05
Sprache
English
Author(s)
Cisneros, Pablo S. G.  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/8424
Journal
IEEE Transactions on Control Systems Technology  
Start Page
1
End Page
6
Citation
IEEE Transactions on Control Systems Technology: 1-6 (2021-05)
Publisher DOI
10.1109/TCST.2020.2979386
Scopus ID
2-s2.0-85104328032
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.