A Stabilizing Nonlinear Model Predictive Control Scheme for Time-optimal Point-to-point Motions

被引：0
|
作者：
Verschueren, Robin [1 ]
Ferreau, Hans Joachim [2 ]
Zanarini, Alessandro [2 ]
Mercangoez, Mehmet [2 ]
Diehl, Moritz [1 ]
机构：
[1] Univ Freiburg, Dept Microsyst Engn, Chair Syst Control & Optimizat, Freiburg, Germany
[2] ABB Corp Res Ctr, Baden, Switzerland
来源：
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年
关键词：
OPTIMIZATION; ALGORITHM;
D O I：
暂无
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 formulates a new scheme for time-optimal nonlinear model predictive control (TONMPC). In contrast to other TONMPC schemes for point-to-point motions found in the literature, it does not require a time transformation or a time scaling, which facilitates a stability proof. The practical applicability is shown with hardware-in-the-loop (HIL) experiments on an embedded platform using an illustrative control example, along with a comparison to one other time-optimal controller.
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页数：6
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