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Nonlinear model predictive control based on constraint transformation
Author(s) -
Käpernick Bartosz,
Graichen Knut
Publication year - 2015
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.2215
Subject(s) - model predictive control , constraint (computer aided design) , transformation (genetics) , nonlinear system , mechatronics , stability (learning theory) , mathematical optimization , control theory (sociology) , computer science , scheme (mathematics) , model transformation , mathematics , control (management) , artificial intelligence , machine learning , mathematical analysis , biochemistry , chemistry , physics , geometry , quantum mechanics , gene , consistency (knowledge bases)
Summary The paper presents a constraint transformation approach for nonlinear model predictive control (MPC) subject to a class of state and control constraints. The approach uses a two‐stage transformation technique to incorporate the constraints into a new unconstrained MPC formulation with new variables. As part of the stability analysis, the relationship of the new unconstrained MPC scheme to an interior penalty formulation in the original variables is discussed. The approach is combined with an unconstrained gradient method that allows for computing the single MPC iterations in a real‐time manner. The applicability of the approach, for example, to fast mechatronic systems, is demonstrated by numerical as well as experimental results. Copyright © 2015 John Wiley & Sons, Ltd.