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题名: Nonlinear Predictive Control of Input Constrained System Based on 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: IEEE International Conference on Mechatronics and Automation
会议日期: August 9-12, 2009
会议地点: Changchum, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
会议录: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 341-346
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2692-8
关键词: Control Lyapunov Functions ; Constrained Systems ; Nonlinear Model Predictive Control
摘要: Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computational complexity, which greatly limit the applications of NMPC in real plants involving fast time-varying dynamics. During previous work, the authors have supposed a new real-time NMPC algorithm based on the concept of generalized pointwise min-norm (GPMN) scheme. And in this paper, the new real-time NMPC is generalized to deal with the nonlinear systems with control input constraints. The main contribution of this paper is to find out the analytic form of GPMN controller for input constrained nonlinear systems, and then parameterize it to formulate the real time NMPC controller - called GPMN-enhanced NMPC (GPMN-ENMPC). Finally, in the last section, the simulations with respect to the mobile robot with orthogonal wheel are conducted to verify the feasibility and validity of the new given algorithm.
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/173321/8810
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 Predictive Control of Input Constrained System Based on Generalized Pointwise Min-Norm Scheme.见:IEEE .2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS,NEW YORK,2009,341-346
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