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Nonlinear Model Predictive Control using Feedback Linearization and Local Inner Convex Constraint Approximations
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
2013 (English)In: Proceedings of the 2013 European Control Conference, 2013, 2056-2061 p.Conference paper, Published paper (Refereed)
Abstract [en]

Model predictive control (MPC) is one of the most popular advanced control techniques and is used widely in industry. The main drawback with MPC is that it is fairly computationally expensive and this has so far limited its practical use for nonlinear systems.

To reduce the computational burden of nonlinear MPC, Feedback Linearization together with linear MPC has been used successfully to control nonlinear systems. The main drawback is that this results in an optimization problem with nonlinear constraints on the control signal.

In this paper we propose a method to handle the nonlinear constraints that arises using a set of dynamically generated local inner polytopic approximations. The main benefits of the proposed method is guaranteed recursive feasibility and convergence.

Place, publisher, year, edition, pages
2013. 2056-2061 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-96743ISI: 000332509702074ISBN: 978-39-5241-734-8 (print)OAI: oai:DiVA.org:liu-96743DiVA: diva2:643179
Conference
2013 European Control Conference, July 17-19, Zurich, Switzerland
Funder
Vinnova, 2010-01255
Available from: 2013-08-26 Created: 2013-08-26 Last updated: 2014-04-25

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CiteExportLink to record
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