Suboptimal nonlinear model predictive control with input move-blocking

This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterisation is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilising fa...

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Bibliographic Details
Published in:International journal of control 2024-03, Vol.97 (3), p.450-459
Main Authors: Makarow, Artemi, Rösmann, Christoph, Bertram, Torsten
Format: Article
Language:English
Subjects:
asymptotic stability
Input move-blocking
Literature reviews
Nonlinear control
Parameterization
Predictive control
recursive feasibility
stabilising terminal conditions
suboptimal model predictive control
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Summary:This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterisation is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilising fallback solution in some buffer for the case that the optimiser does not find a better input move-blocked solution. An extended approach superimposes the manually generated stabilising warm-start by the move-blocked control sequence and enables a stepwise improvement of the control performance. In addition, this contribution provides a detailed review of the literature on input move-blocked model predictive control and combines important results with the findings of suboptimal model predictive control. A numerical example supports the theoretical results and shows the effectiveness of the proposed approach.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2022.2152381