Nonlinear model predictive control using adaptive hinging hyperplanes model

This paper deals with the problem of nonlinear model predictive control using a piecewise linear predictive model: the adaptive hinging hyperplanes (AHH). The AHH model is adaptive and efficient, thus depicts the relationship of the nonlinear system very well. Thanks to the piecewise linear property of the predictive model, a series of convex quadratic programming are constructed in the controller design step. The existence of a global optimum is guaranteed and a descent search algorithm is performed to get a reasonable control sequence within the sampling interval. Simulation results are also presented to illustrate the potential of the proposed methodologies.