In this paper, we present an approach for real-time nonlinear model predictive control (NMPC) of constrained multivariable dynamical systems described by nonlinear difference equations. The NMPC problem is formulated by means of a quadratic penalty function as an always feasible, sparse nonlinear least-squares problem subject to box constraints on the decision variables. This formulation is exploited by the proposed fast solution algorithm, which is based on the Gauss-Newton method and bounded-variable least squares (BVLS). Linear time-invariant and linear time-varying model predictive control based on BVLS are special cases of the proposed NMPC framework. The proposed approach and its benefits are demonstrated through a typical numerical example in simulation.
A Fast NMPC Approach based on Bounded-Variable Nonlinear Least Squares
Saraf, Nilay;Zanon, Mario;Bemporad, Alberto
2018-01-01
Abstract
In this paper, we present an approach for real-time nonlinear model predictive control (NMPC) of constrained multivariable dynamical systems described by nonlinear difference equations. The NMPC problem is formulated by means of a quadratic penalty function as an always feasible, sparse nonlinear least-squares problem subject to box constraints on the decision variables. This formulation is exploited by the proposed fast solution algorithm, which is based on the Gauss-Newton method and bounded-variable least squares (BVLS). Linear time-invariant and linear time-varying model predictive control based on BVLS are special cases of the proposed NMPC framework. The proposed approach and its benefits are demonstrated through a typical numerical example in simulation.File | Dimensione | Formato | |
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