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A COMPARATIVE STUDY ON COMPUTATIONAL SCHEMES FOR NONLINEAR MODEL PREDICTIVE CONTROL
Author(s) -
Minh Vu Trieu,
Afzulpurkar Nitin
Publication year - 2006
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2006.tb00284.x
Subject(s) - model predictive control , control theory (sociology) , constraint (computer aided design) , nonlinear system , horizon , terminal (telecommunication) , state (computer science) , state space , stability (learning theory) , mathematical optimization , scheme (mathematics) , computer science , nonlinear model , exponential stability , mathematics , control (management) , algorithm , telecommunications , mathematical analysis , statistics , physics , quantum mechanics , artificial intelligence , machine learning , geometry
This paper briefly reviews development of nonlinear model predictive control (NMPC) schemes for finite horizon prediction and basic computational algorithms that can solve the stable real‐time implementation of NMPC in space state form with state and input constraints. In order to ensure stability within a finite prediction horizon, most NMPC schemes use a terminal region constraint at the end of the prediction horizon — a particular NMPC scheme using a terminal region constraint, namely quasi‐infinite horizon, that guarantees asymptotic closed‐loop stability with input constraints is presented. However, when nonlinear processes have both input and state constraints, difficulty arises from failure to satisfy the state constraints due to constraints on input. Therefore, a new NMPC scheme without a terminal region constraint is developed using soften state constraints. A brief comparative simulation study of two NMPC schemes: quasi‐infinite horizon and soften state constraints is done via simple nonlinear examples to demonstrate the ability of the soften state constraints scheme. Finally, some features of future research from this study are discussed.