Corpus ID: 237941097

Suboptimal nonlinear model predictive control with input move-blocking

@article{Makarow2021SuboptimalNM,
  title={Suboptimal nonlinear model predictive control with input move-blocking},
  author={Artemi Makarow and Christoph R{\"o}smann and Torsten Bertram},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.12355}
}
This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilizing fallback solution in some buffer for the case that the optimizer does not find a better input move-blocked solution. An extended approach superimposes the manually generated stabilizing warm-start by… Expand

Figures and Tables from this paper

References

SHOWING 1-10 OF 39 REFERENCES
Optimal move blocking strategies for model predictive control
This paper presents a systematic methodology for designing move blocking strategies to reduce the complexity of a model predictive controller for linear systems, with explicit optimisation of theExpand
STRONG FEASIBILITY IN INPUT-MOVE-BLOCKING MODEL PREDICTIVE CONTROL
Abstract Time-invariant input-move-blocking regimes are used in many practical online model predictive control systems in order to reduce the computational complexity of the associated finite-horizonExpand
Move blocked model predictive control with guaranteed stability and improved optimality using linear interpolation of base sequences
TLDR
The interpolated solution-based move blocking strategy which parameterises the offset from the convex combination of two complementary base sequences and optimises the interpolation parameter as an additional decision variable in the optimal control problem improves the optimality performance while guaranteeing the recursive feasibility and closed-loop stability. Expand
Move blocking strategies in receding horizon control
In order to deal with the computational burden of optimal control, it is common practice to reduce the degrees of freedom by fixing the input or its derivatives to be constant over severalExpand
Nonlinear Model Predictive Control: Theory and Algorithms
TLDR
A thorough and rigorous introduction to nonlinear model predictive control (NMPC) for discrete-time and sampled-data systems and insight into how the nonlinear optimisation routine the core of any NMPC controller works is given. Expand
Constrained model predictive control: Stability and optimality
TLDR
This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature. Expand
Towards parallelizable sampling-based Nonlinear Model Predictive Control
TLDR
Comparisons with the fmincon nonlinear optimization solver on a benchmark example indicates that, as the simulation time progresses, the proposed algorithm converges rapidly to the “optimal” solution, even when using a small number of samples. Expand
Suboptimal model predictive control (feasibility implies stability)
TLDR
Two suboptimal MPC schemes are presented and analyzed that are guaranteed to be stabilizing, provided an initial feasible solution is available and for which the computational requirements are more reasonable. Expand
Robust variable horizon MPC with move blocking
TLDR
A generalised blocked VH-MPC controller is formulated for linear discrete-time systems to guarantee robust recursive feasibility and finite-time completion. Expand
Reducing variables in Model Predictive Control of linear system with disturbances using singular value decomposition
TLDR
An approach for a linear system with bounded additive disturbance using fewer variables than the standard is proposed and the new variables are chosen so that they transfer the maximal energy to the control inputs. Expand
...
1
2
3
4
...