A stabilizing nonlinear model predictive control scheme for time-optimal point-to-point motions
| Autor: | Mehmet Mercangöz, Robin Verschueren, Alessandro Zanarini, Moritz Diehl, Hans Joachim Ferreau |
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| Rok vydání: | 2017 |
| Předmět: |
Scheme (programming language)
0209 industrial biotechnology Point-to-point 021103 operations research Computer science Linear system 0211 other engineering and technologies 02 engineering and technology Optimal control Nonlinear system Model predictive control 020901 industrial engineering & automation Control theory computer computer.programming_language Numerical stability |
| Zdroj: | CDC |
| DOI: | 10.1109/cdc.2017.8264024 |
| Popis: | This paper formulates a new scheme for time-optimal nonlinear model predictive control (TONMPC). In contrast to other TONMPC schemes for point-to-point motions found in the literature, it does not require a time transformation or a time scaling, which facilitates a stability proof. The practical applicability is shown with hardware-in-the-loop (HIL) experiments on an embedded platform using an illustrative control example, along with a comparison to one other time-optimal controller. |
| Databáze: | OpenAIRE |
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