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Nonlinear model predictive control with regulable computational cost
He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
关键词Control Lyapunov Functions Nonlinear Model Predictive Control Input Constraints
发表期刊ASIAN JOURNAL OF CONTROL
ISSN1561-8625
2012
卷号14期号:1页码:300-307
收录类别SCI ; EI
EI收录号20120514731492
WOS记录号WOS:000299468700028
产权排序1
摘要Nonlinear model predictive control (NMPC) suffers from problems of closed loop instability and huge computational burden, which greatly limit its applications in real plants. In this paper, a new NMPC algorithm, whose stability is robust with respect to regulable computational cost, is presented. First, a new generalized pointwise min-norm (GPMN) control, as well as its analytic form considering a super-ball type input constraint, is given. Second, the GPMN controller is integrated into a normal NMPC algorithm as a structure of control input profile to be optimized, called GPMN enhanced NMPC (GPMN-ENMPC). Finally, a numerical example is presented and simulation results exhibit the advantage of the GPMN-ENMPC algorithm: computational cost can be regulated according to the computational resources with guaranteed stability.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems
关键词[WOS]STABILIZATION ; OPTIMALITY ; STABILITY
WOS研究方向Automation & Control Systems
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10029
专题机器人学研究室
通讯作者He YQ(何玉庆)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street 114, 110016, Shenyang, China
推荐引用方式
GB/T 7714
He YQ,Han JD. Nonlinear model predictive control with regulable computational cost[J]. ASIAN JOURNAL OF CONTROL,2012,14(1):300-307.
APA He YQ,&Han JD.(2012).Nonlinear model predictive control with regulable computational cost.ASIAN JOURNAL OF CONTROL,14(1),300-307.
MLA He YQ,et al."Nonlinear model predictive control with regulable computational cost".ASIAN JOURNAL OF CONTROL 14.1(2012):300-307.
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