A Suboptimal Approach to Real-time Model Predictive Control of Nonlinear Systems

被引：10

作者：

Graichen, Knut ^{[1
]}

Egretzberger, Markus ^{[2
]}

Kugi, Andreas ^{[2
]}

机构：

[1] Univ Ulm, Inst Mess Regel & Mikrotech, D-89081 Ulm, Germany

[2] TU Wien, Inst Automatisierungs & Regelungstech, A-1040 Vienna, Austria

来源：

AT-AUTOMATISIERUNGSTECHNIK | 2010年 / 58卷 / 08期

关键词：

Model Predictive Control; nonlinear systems; real-time feasibility; time and memory efficient computation; suboptimality; incremental improvement; RECEDING-HORIZON CONTROL; STABILITY; OPTIMALITY; SCHEME;

D O I：

10.1524/auto.2010.0860

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 describes a fast Model Predictive Control (MPC) scheme for nonlinear systems subject to control constraints. The MPC scheme computes a suboptimal solution of the underlying optimal control problem that is incrementally refined over the runtime of the process. The MPC scheme uses a fixed number of iterations in each sampling step and allows for a time and memory efficient computation of the single iterations. The control performance, the real-time feasibility as well as the incremental improvement of the MPC scheme are demonstrated for a laboratory overhead crane with a sampling time of 2 ms.

引用

页码：447 / 456

页数：10

共 50 条

[41] Model-based Predictive Control of Hybrid Systems: A Probabilistic Neural-network Approach to Real-time Control
Boštjan Potočnik
Gašper Mušič
Igor Škrjanc
Borut Zupančič
Journal of Intelligent and Robotic Systems, 2008, 51 : 45 - 63
[42] Real-Time Nonlinear Model Predictive Control of Robots Using a Graphics Processing Unit
Hyatt, Phillip
Killpack, Marc D.
IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (02): : 1468 - 1475
[43] Practical Issues in Nonlinear Model Predictive Control: Real-Time Optimization and Systematic Tuning
Ohtsuka, Toshiyuki
Ozaki, Kohei
NONLINEAR MODEL PREDICTIVE CONTROL: TOWARDS NEW CHALLENGING APPLICATIONS, 2009, 384 : 447 - +
[44] Real-time Path Tracking of Mobile Robot Based on Nonlinear Model Predictive Control
Bai G.
Liu L.
Meng Y.
Liu S.
Luo W.
Meng, Yu (myu@ustb.edu.cn), 1600, Chinese Society of Agricultural Machinery (51): : 47 - 52and60
[45] Design for Real-Time Nonlinear Model Predictive Control With Application to Collision Imminent Steering
Wurts, John
Stein, Jeffrey L.
Ersal, Tulga
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2022, 30 (06) : 2450 - 2465
[46] The tradeoff between modeling complexity and real-time feasibility in nonlinear model predictive control
Nagy, ZK
Agachi, SP
Findeisen, R
Allgöwer, F
Diehl, M
Schlöder, JP
Bock, HG
6TH WORLD MULTICONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VI, PROCEEDINGS: INDUSTRIAL SYSTEMS AND ENGINEERING I, 2002, : 329 - 334
[47] Real-time implementation of Nonlinear model predictive control of batch processes in an industrial framework
Nagy, Zoltan K.
Mahn, Bernd
Franke, Ruediger
Allgoewer, Frank
ASSESSMENT AND FUTURE DIRECTIONS OF NONLINEAR MODEL PREDICTIVE CONTROL, 2007, 358 : 465 - +
[48] Model Predictive Real-Time Monitoring of Linear Systems
Chen, Xin
Sankaranarayanan, Sriram
2017 IEEE REAL-TIME SYSTEMS SYMPOSIUM (RTSS), 2017, : 297 - 306
[49] Model Predictive Control with Real-time Occupancy Detection
Beltran, Alex
Cerpa, Alberto E.
SenSys'15: Proceedings of the 13th ACM Conference on Embedded Networked Sensor Systems, 2015, : 437 - 438
[50] A model predictive perimeter control with real-time partitions
Jiang, Shang
Keyvan-Ekbatani, Mehdi
Ngoduy, Dong
IFAC PAPERSONLINE, 2021, 54 (02): : 292 - 297

← 1 2 3 4 5 →