Stabilizing Model Predictive Control for Nonlinear Systems in Input-Output quasi-LPV Form
| Autor: | Pablo S. G. Cisneros, Herbert Werner |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Input/output
0209 industrial biotechnology Computational complexity theory Computer science 020208 electrical & electronic engineering 02 engineering and technology Nonlinear system Model predictive control 020901 industrial engineering & automation Quadratic equation Terminal (electronics) Control theory 0202 electrical engineering electronic engineering information engineering Control-Lyapunov function |
| Zdroj: | ACC |
| Popis: | This paper present a Nonlinear Model Predictive Control (NMPC) scheme for systems in input-output quasi-Linear Parameter Varying (IO-qLPV) form. Stability is guaranteed by the use of terminal ingredients: a terminal cost associated with a control Lyapunov function, with a dual mode controller within a terminal constraint set. These terminal ingredients are computed offline by solving an LMI problem, using a recent result from IO-LPV literature. Online computational complexity is kept low by solving the nonlinear optimization problem as a sequence of Quadratic Programs. A simulation example on a 2-DOF robotic manipulator illustrates the approach and the computation of the terminal ingredients. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|