Nonlinear model predictive control based on constraint transformation

被引:14
作者
Kaepernick, Bartosz [1 ]
Graichen, Knut [1 ]
机构
[1] Univ Ulm, Inst Measurement Control & Microtechnol, Albert Einstein Allee 41, D-89081 Ulm, Germany
基金
奥地利科学基金会;
关键词
model predictive control; state and input constraints; constraint transformation; stability; numerical efficiency; RECEDING-HORIZON CONTROL; STABILITY; REGULATOR; MPC;
D O I
10.1002/oca.2215
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The paper presents a constraint transformation approach for nonlinear model predictive control (MPC) subject to a class of state and control constraints. The approach uses a two-stage transformation technique to incorporate the constraints into a new unconstrained MPC formulation with new variables. As part of the stability analysis, the relationship of the new unconstrained MPC scheme to an interior penalty formulation in the original variables is discussed. The approach is combined with an unconstrained gradient method that allows for computing the single MPC iterations in a real-time manner. The applicability of the approach, for example, to fast mechatronic systems, is demonstrated by numerical as well as experimental results. Copyright (c) 2015 John Wiley & Sons, Ltd.
引用
收藏
页码:807 / 828
页数:22
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