A framework for real-time implementation of low-dimensional parameterized NMPC

In this paper, a novel approach is proposed to implement low-dimensional parameterized Nonlinear Model Predictive Control (NMPC) schemes for systems showing fast dynamics. The proposed scheme is based on distributing the reconstruction of the cost function over the real lifetime of the controlled sy...

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Bibliographic Details
Published in:Automatica (Oxford) 2012-01, Vol.48 (1), p.198-204
Main Author: Alamir, Mazen
Format: Article
Language:English
Subjects:
Aircraft
Applied sciences
Automatic
Computational efficiency
Computer science
control theory
systems
Control theory. Systems
Convergence analysis
Distributing
Dynamical systems
Engineering Sciences
Exact sciences and technology
Fast implementation
Fundamental areas of phenomenology (including applications)
Landing
Mathematical models
NMPC
Nonlinear dynamics
Optimal control
Parametrized approach
Physics
PVTOL stabilization
Real-time
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stabilization
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Summary:In this paper, a novel approach is proposed to implement low-dimensional parameterized Nonlinear Model Predictive Control (NMPC) schemes for systems showing fast dynamics. The proposed scheme is based on distributing the reconstruction of the cost function over the real lifetime of the controlled system. The framework is particularly suitable for NMPC formulations that use low dimensional control parametrization. The concrete example of a Planar Vertical Take-Off and Landing (PVTOL) aircraft stabilization problem is used to illustrate the efficiency of the proposed formulation.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2011.09.046