Stabilizing Model Predictive Control for Nonlinear Systems in Input-Output quasi-LPV Form

被引：5

作者：

Cisneros, Pablo S. G. ^{[1
]}

Werner, Herbert ^{[1
]}

机构：

[1] Hamburg Univ Technol, Inst Control Engn, Hamburg, Germany

来源：

2019 AMERICAN CONTROL CONFERENCE (ACC) | 2019年

关键词：

MPC;

D O I：

10.23919/acc.2019.8814342

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1002 / 1007

页数：6

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