Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints
Paper i proceeding, 2015

A novel methodology is proposed for discrete model predictive gain-scheduled controller design for nonlinear systems with input(hard)/output(soft) constraints for finite and infinite prediction horizons. The proposed design procedure is based on the linear parameter-varying (LPV) paradigm, affine parameter-dependent quadratic stability and on the notion of the parameter-varying guaranteed cost. The obtained design procedure is in the form of BMI. Numerical examples show the benefit of the proposed approach.

Predictive controller

Nonlinear systems

Quadratic gain-scheduled cost function

Gain-scheduled controller

LPV systems

Parameter-dependent Lyapunov function

Författare

Adrian Ilka

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik

Vojtech Veselý

Slovak University of Technology Bratislava

IFAC Proceedings Volumes (IFAC-PapersOnline), 1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015; Saint Petersburg; Russian Federation; 24 June 2015 through 26 June 2015; Code 117503

1474-6670 (ISSN)

Vol. 48 11 912-917

Ämneskategorier

Reglerteknik

DOI

10.1016/j.ifacol.2015.09.307