Real time Nonlinear Model Predictive Control Induced by Local Linear Controller

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	Real time Nonlinear Model Predictive Control Induced by Local Linear Controller
	He YQ(何玉庆); Han JD(韩建达)
	2008
会议名称	27th Chinese Control Conference
会议日期	July 16-18, 2008
会议地点	Kunming, China
关键词	Real-time nonlinear model predictive control Control lyapunov functions Local linearization
页码	271-275
中文摘要	In this paper, a new nonlinear model predictive control (NMPC) algorithm guided by local linear controller is presented so that it is possible to be implemented in real time and obtain good performance. Firstly, in order to ensure the closed loop stability, a generalized pointwise min-norm (GPMN) controller formulation based on control Lyapunov functions (CLF) are given and parameterized. And then, the parameterized GPMN scheme is combined with the traditional NMPC algorithm. And the optimization variables in traditional NMPC are replaced by the parameters in GPMN, so that the computational burden of original NMPC algorithm can be reduced greatly. Finally, numerical simulations are conducted to verify the feasibility and validity of the new algorithms.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Chinese Assoc Automat, Tech Comm Control Theory, Kunming Univ Sci & Technol, Yunnan Div, Chinese Assoc Automat, IEEE Control Syst Soc, Soc Instrument & Control Engineers Japan, Inst Control, Robot & Syst Korea, IEEE CSS Singapore Chapter, CAS, Inst Syst Sci, ACad Math & Syst Sci, Yunnan Normal Univ, CAI Div, Hong Kong Inst Engineers
会议录	PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 2
会议录出版者	BEIJING UNIV AERONAUTICS & ASTRONAUTICS PRESS
会议录出版地	HAIDIAN QU DISTRICT
语种	英语
WOS记录号	WOS:000259743500058
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8839]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	He YQ,Han JD. Real time Nonlinear Model Predictive Control Induced by Local Linear Controller[C]. 见:27th Chinese Control Conference. Kunming, China. July 16-18, 2008.