Abstract
Electromagnetically driven mechanical systems are characterized by fast nonlinear dynamics that are subject to physical and performance constraints, which makes controller design a challenging problem. Although model predictive control (MPC) is well suited for dealing with constraints, the fast dynamics of electromagnetic (EM) actuators render most standard MPC approaches impractical. This paper proposes a horizon-1 MPC strategy that can handle both the state/input constraints and the computational complexity limitations associated with EM actuator applications. A {flexible Lyapunov function} is employed to obtain a nonconservative stability guarantee for the horizon-1 MPC scheme. Moreover, an invariant region of attraction is provided for the closed-loop MPC system. The simulation results obtained on a validated model of an EM engine valve actuator show that performance is improved with respect to previous strategies, and that the proposed algorithm can run within a sampling period in the order of a millisecond.
Original language | English |
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Pages (from-to) | 1652-1665 |
Journal | IEEE Transactions on Control Systems Technology |
Volume | 21 |
Issue number | 5 |
DOIs | |
Publication status | Published - 2013 |