Constrained NMPC via state-space partitioning for input affine non-linear systems

被引：8

作者：

Bacic, M ^{[1
]}

Cannon, M ^{[1
]}

Kouvaritakis, B ^{[1
]}

机构：

[1] Univ Oxford, Dept Engn Sci, Oxford OX1 3PJ, England

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2003年 / 76卷 / 15期

基金：

英国工程与自然科学研究理事会;

关键词：

D O I：

10.1080/00207170310001604963

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we present a novel approach to NMPC based on state-space partitioning in conjunction with one-step ahead prediction and judicious use of graph theory to deliver an optimized control law which is robust, and is suitable for fast sampling applications. The only on-line computation required is a one-step ahead QP minimization which is linear in the number of inputs. The paper describes the general idea of the method and presents results, whose efficiency is demonstrated by means of a design study.

引用

页码：1516 / 1526

页数：11

共 19 条

[1]

[Anonymous], INTRO ALGORITHMS

[2]

BACIC M, 2000, P 8 IFAC S COMP AID

[3] The Quickhull algorithm for convex hulls [J].