Fast explicit nonlinear model predictive control via multiresolution function approximation with guaranteed stability
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Date
2010-09Type
- Conference Paper
ETH Bibliography
yes
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Abstract
In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets. Feasibility and stability guarantees for the approximate control law are given using reachability analysis, where interval methods are used to construct a capture basin (feasible region). A constructive algorithm is provided that combines adaptive function approximation with interval methods to build a receding horizon control law that is suboptimal, yet with a region of guaranteed feasibility and stability. The resulting control law is built on a grid hierarchy that is fast to evaluate in real-time systems. Show more
Publication status
publishedExternal links
Book title
8th IFAC Symposium on Nonlinear Control SystemsJournal / series
IFAC Proceedings VolumesVolume
Pages / Article No.
Publisher
ElsevierEvent
Organisational unit
03416 - Morari, Manfred (emeritus)
03751 - Lygeros, John / Lygeros, John
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ETH Bibliography
yes
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