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.

引用

页数：6

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