Fast Model Predictive Control with Soft Constraints

被引：0
|
作者：
Richards, Arthur [1 ]
机构：
[1] Univ Bristol, Dept Aerosp Engn, Bristol BS8 1TR, Avon, England
来源：
2013 EUROPEAN CONTROL CONFERENCE (ECC) | 2013年
关键词：
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 describes a fast optimization algorithm for Model Predictive Control (MPC) with soft constraints. The method relies on the Kreisselmeier-Steinhauser function to provide a smooth approximation of the penalty function for a soft constraint. By introducing this approximation directly into the objective of an interior point optimization, there is no need for additional slack variables to capture constraint violation. Simulation results show significant speed-up compared to using slacks.
引用
收藏
页码：1 / 6
页数：6
相关论文
共 50 条
  • [1] Fast Model Predictive Control with soft constraints
    Richards, Arthur
    [J]. EUROPEAN JOURNAL OF CONTROL, 2015, 25 : 51 - 59
  • [2] Model predictive control with soft constraints with application to lime kiln control
    Zanovello, R
    Budman, H
    [J]. COMPUTERS & CHEMICAL ENGINEERING, 1999, 23 (06) : 791 - 806
  • [3] A Fast Algorithm for Stochastic Model Predictive Control with Probabilistic Constraints
    Shin, Minyong
    Primbs, James A.
    [J]. 2010 AMERICAN CONTROL CONFERENCE, 2010, : 5489 - 5494
  • [4] Fast model predictive control for linear periodic systems with state and control constraints
    Hoai-Nam Nguyen
    Bourdais, Romain
    Gutman, Per-Olof
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2017, 27 (17) : 3703 - 3726
  • [5] Robust stability in predictive control with soft constraints
    Thomsen, Sven Creutz
    Niemann, Henrik
    Poulsen, Niels Kjolstad
    [J]. 2010 AMERICAN CONTROL CONFERENCE, 2010, : 6280 - 6285
  • [6] Generalized predictive control with fuzzy soft constraints
    Li, SY
    Xi, YG
    [J]. NINTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2000), VOLS 1 AND 2, 2000, : 411 - 416
  • [7] Linear model predictive control of automatic parking path tracking with soft constraints
    Ye, Hao
    Jiang, Haobin
    Ma, Shidian
    Tang, Bin
    Wahab, Lukuman
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2019, 16 (03)
  • [8] Quasi Time-Optimal Nonlinear Model Predictive Control with Soft Constraints
    Ismail, Jawad
    Liu, Steven
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 6050 - 6055
  • [9] Fast Gradient Method for Model Predictive Control with Input Rate and Amplitude Constraints
    Kempf, Idris
    Goulart, Paul
    Duncan, Stephen
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 6542 - 6547
  • [10] A Fast Dual Gradient Algorithm for Distributed Model Predictive Control with Coupled Constraints
    Wang, Zheming
    Ong, Chong-Jin
    [J]. 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2017,
12345