A nonlinear tracking model predictive control scheme for dynamic target signals
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Publication:2188272
DOI10.1016/J.AUTOMATICA.2020.109030zbMATH Open1447.93089arXiv1911.03304OpenAlexW2988271954MaRDI QIDQ2188272FDOQ2188272
Authors: Johannes Köhler, Matthias A. Müller, Frank Allgöwer 
Publication date: 10 June 2020
Published in: Automatica (Search for Journal in Brave)
Abstract: We present a nonlinear model predictive control (MPC) scheme for tracking of dynamic target signals. The scheme combines stabilization and dynamic trajectory planning in one layer, thus ensuring constraint satisfaction irrespective of changes in the dynamic target signal. For periodic target signals we ensure exponential stability of the optimal reachable periodic trajectory using suitable terminal ingredients and a convexity condition for the underlying periodic optimal control problem. Furthermore, we introduce an online optimization of the terminal set size to automate the trade-off between fast convergence and operation close to the constraints. In addition, we show how stabilization and dynamic trajectory planning can be formulated as partially decoupled optimization problems, which reduces the computational demand while ensuring recursive feasibility and convergence. The main tool to enable the proposed design is a novel reference generic offline computation that provides suitable terminal ingredients for tracking of dynamic reference trajectories. The practicality of this approach is demonstrated on benchmark examples, which demonstrates superior performance compared to state of the art approaches.
Full work available at URL: https://arxiv.org/abs/1911.03304
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stabilitymodel predictive controlnonlinear systemsoutput regulationcontrol of constrained systemsreference trackingperiodic references
Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Model predictive control (93B45)
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Cited In (11)
- Stable predictive control of continuous stirred-tank reactors using deep learning
- Robust nonlinear MPC without terminal constraint for tracking changing setpoints in the presence of non-additive unknown disturbance
- Event-triggered dual-mode predictive control for constrained nonlinear systems with continuous/intermittent detection
- Stable nonlinear model predictive control with a changing economic criterion
- Constrained control for systems on matrix Lie groups with uncertainties
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- Tracking periodic parametric references using model predictive control
- A robust adaptive model predictive control framework for nonlinear uncertain systems
- A robust nonlinear tracking MPC using qLPV embedding and zonotopic uncertainty propagation
- Title not available (Why is that?)
- A predictive fault tolerant control method for qLPV systems subject to input faults and constraints
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