|
An Efficient Formulation of Off-line Model Predictive Control for Nonlinear Systems Using Polyhedral Invariant Sets |
|---|---|
| รหัสดีโอไอ | |
| Creator | Pornchai Bumroongsri |
| Title | An Efficient Formulation of Off-line Model Predictive Control for Nonlinear Systems Using Polyhedral Invariant Sets |
| Contributor | Pornpun Arundechachai, Soorathep Kheawhom |
| Publisher | TUENGR Group |
| Publication Year | 2557 |
| Journal Title | International Transaction Journal of Engineering, Management, & Applied Sciences & Technologies |
| Journal Vol. | 5 |
| Journal No. | 1 |
| Page no. | 25-37 |
| Keyword | control law, real-time interpolation, scheduling parameter, MPC algorithm. |
| URL Website | http://tuengr.com |
| Website title | International Transaction Journal of Engineering, Management, & Applied Sciences & Technologies |
| ISSN | 2228-9860 |
| Abstract | In this research, an efficient formulation of off-line model predictive control for nonlinear systems is presented. The nonlinear systems are reformulated as linear parameter varying systems so their complexity is reduced without any loss of generality. The on-line computational burdens are decreased by pre-computing off-line the sequences of explicit control laws corresponding to the sequences of polyhedral invariant sets. At each sampling time, the current state and the scheduling parameter are measured. The real-time control law is then calculated by linear interpolation between the pre-computed control laws. The results indicate that the proposed algorithm can achieve better control performance compared to the previously developed off-line robust model predictive control algorithm because the scheduling parameter is incorporated into the controller design. |
