nonlinear predictive control for fast constrained systems.pptVIP

Nonlinear Predictive Controlfor Fast Constrained Systems By Ahmed Youssef What’s MBPC Introduction Shortcomings of current industrial nonlinear MBPC Computing the MBPC control law demands significant on-line computation effort Inability to deal explicitly with the plant model uncertainty. Hamilton-Jacobi-Bellman The Coupled Algebraic Riccati Equations Case Studies CONCLUSIONS Properties of NLQGPC controller: High performance Less computational burden Dealing with input constraints Guaranteeing asymptotic stability to the closed-loop system. Possesses both performance robustness stability robustness * Introduction CV: controlled variable MV: manipulated variable Objective of research work Reducing the computational complexity of nonlinear MBPC adding the robustness property whilst preserving its good attributes to make it more effective practical tool for controlling systems of fast-constrained dynamics. Given the nonlinear dynamic model Reformulate into nonlinear state-dependent form This is not a linearisation Trivial example State Dependent State-Space Models The NLQGPC quadratic infinite horizon cost function: The optimal control vector in terms of the states of the system and reference model: NLQGPC Control Law Control Lyapunov Function A C1 function V(x): ?n ? ? is said to be a discrete CLF for the system: if V(x) is positive definite, unbounded, and if for all x ? 0 Dealing with Stability Issue Satisficing is based on a point-wise cost / benefit comparison of an action. The benefits are given by the “Selectability” function Ps(u,x), while the costs are given by the “Rejectability” function Pr(u,x). The “satisficing” set is those options for which selectability exceeds rejectability: Stability via Satisficing Satisficing generates the state dependent set of controls that render the closed-loop system stable with respect to