Abstract
We propose a model predictive control approach for non-linear systems based on linear parameter-varying representations. The non-linear dynamics are assumed to be embedded inside an LPV representation. Hence, the non-linear MPC problem is replaced by an LPV MPC problem, which can be solved through convex optimization. Doing so, the non-linear system can be controlled efficiently and with strong guarantees on feasibility and stability at the possible sacrifice of achievable performance. In this paper, the LPV MPC problem is solved using a tube-based approach, requiring the on-line solution of a single linear-or quadratic program. The computational properties of the approach are demonstrated on two examples.
| Original language | English |
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| Title of host publication | 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 3582-3587 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-5090-2873-3 |
| ISBN (Print) | 978-1-5090-2874-0 |
| DOIs | |
| Publication status | Published - 18 Jan 2018 |
| Event | 56th IEEE Conference on Decision and Control (CDC 2017) - Melbourne, Australia Duration: 12 Dec 2017 → 15 Dec 2017 Conference number: 56 http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8253407 |
Conference
| Conference | 56th IEEE Conference on Decision and Control (CDC 2017) |
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| Abbreviated title | CDC 2017 |
| Country | Australia |
| City | Melbourne |
| Period | 12/12/17 → 15/12/17 |
| Internet address |