DocumentCode :
232948
Title :
A new dual-mode NMPC scheme with terminal control laws of free-parameters
Author :
He Defeng ; Wang Lei ; Yu Shiming
Author_Institution :
Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou, China
fYear :
2014
fDate :
28-30 July 2014
Firstpage :
7667
Lastpage :
7672
Abstract :
The paper presents a new dual-mode nonlinear model predictive control (NMPC) scheme for constrained continuous-time nonlinear systems. The tool of control Lyapunov functions of nonlinear systems is used to compute the terminal constrained regions and terminal control laws with free-parameters within the dual-mode NMPC framework. By offline selecting the parameters in the terminal control law increases the size of the terminal region. Moreover, in order to obtain the optimality of the terminal control law with respect to given cost functions, the parameters are optimized online. Then a vary time-horizon dual-mode NMPC algorithm is formulate for the constrained nonlinear system, whose recursively feasibility and closed-loop stability properties are also derived. Finally, an example of the spring-cart control system is used to demonstrate the effectiveness of the resulted obtained here, where the linearization LQR method to be exploited to compute the terminal region of the spring-cart control system is compared and studied.
Keywords :
Lyapunov methods; closed loop systems; continuous time systems; linear quadratic control; nonlinear control systems; predictive control; stability; Lyapunov functions; closed-loop stability property; constrained continuous-time nonlinear systems; constrained nonlinear system; cost functions; dual-mode NMPC scheme; linear quadratic regression method; linearization LQR method; nonlinear model predictive control; parameter selection; spring-cart control system; terminal control laws; Closed loop systems; Cost function; Nonlinear systems; Predictive control; Stability analysis; Model predictive control; control Lyapunov functions; dual-mode control; nonlinear systems; stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
Type :
conf
DOI :
10.1109/ChiCC.2014.6896278
Filename :
6896278
Link To Document :
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