Quasi Time-Optimal Nonlinear Model Predictive Control with Soft Constraints
نویسندگان
چکیده
منابع مشابه
Stability of Model Predictive Control with Soft Constraints
We derive stability conditions for Model Predictive Control (MPC) with hard constraints on the inputs and \soft" constraints on the outputs for an innnitely long output horizon. We show that with state feedback MPC is globally asymptotically stabilizing if and only if all the eigenvalues of the open loop system are in the closed unit disk. With output feedback the eigenvalues must be strictly i...
متن کاملGlobally Optimal Nonlinear Model Predictive Control
This paper presents a globally optimal nonlinear Model Predictive Control (NMPC) algorithm. Utilizing local techniques on nonlinear nonconvex problems leaves one susceptible to suboptimal solutions. In complex problems, local solver reliability is difficult to predict and often highly dependent upon the choice of initial guess. For the purpose of NMPC, local solvers can cause the algorithm to f...
متن کاملOptimal Control with Fuzzy Chance Constraints
In this paper, a model of an optimal control problem with chance constraints is introduced. The parametersof the constraints are fuzzy, random or fuzzy random variables. Todefuzzify the constraints, we consider possibility levels. Bychance-constrained programming the chance constraints are converted to crisp constraints which are neither fuzzy nor stochastic and then the resulting classical op...
متن کاملNonlinear model based/model predictive control with constraints and with/without nonlinear observer
A literature survey from the area of nonlinear model predictive control (MPC) is presented. After a brief review of the main characteristics of linear MPC algorithms various classes of nonlinear MPC algorithms based on state-space models, such as nonlinear extensions of dynamic matrix control (DMC), Newton-type algorithms and nonlinear programming (NLP) based algorithms are discussed. These alg...
متن کاملFeasible Real-time Nonlinear Model Predictive Control
This paper discusses an algorithm for efficiently calculating the control moves for constrained nonlinear model predictive control. The approach focuses on real-time optimization strategies that maintain feasibility with respect to the model and constraints at each iteration, yielding a stable technique suitable for suboptimal model predictive control of nonlinear process. We present a simulati...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.1673