Real time Nonlinear Model Predictive Control Induced by Local Linear Controller
文献类型：会议论文
| 作者 | He YQ(何玉庆) ; Han JD(韩建达)
|
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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