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题名: Nonlinear model predictive control enhanced by generalized pointwise min-norm scheme
作者: He YQ(何玉庆) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 46th IEEE Conference on Decision and Control
会议日期: December 12-14, 2007
会议地点: New Orleans, LA
会议主办者: IEEE Control Syst Soc, United Technologies, Springer, Wiley Blackwell, Taylor & Francis, Princeton Univ Press, Maplesoft, Siam
会议录: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 3343-3348
收录类别: CPCI(ISTP) ; EI
ISSN号: 0191-2216
ISBN号: 978-1-4244-1497-0
摘要: Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computation complexity, which greatly limits its application in mechatronic systems involving fast time-varying dynamics. In this paper, a new NMPC enhanced by generalized pointwise min-norm (GPMN) scheme is presented. First, a generalized min-norm control algorithm is developed by introducing a guide function into Freeman's pointwise min-norm control (PMN) algorithm in order to obtain a stable controller based on a known CLF. Then, the guide function is parameterized according to the Bellman's optimization principle and the GPMN scheme is further integrated into normal NMPC strategy. As a result, the closed loop stability of NMPC is guaranteed and the real-time applicability is substantially improved. Simulation results have shown the efficiency of the proposed method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8809
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
何玉庆; 韩建达 .Nonlinear model predictive control enhanced by generalized pointwise min-norm scheme.见:IEEE .PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14,NEW YORK,2007,3343-3348
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