文章基本信息

标题：Improved Design of Nonlinear Model Predictive Controllers
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作者：Sergio Lucia ; Philipp Rumschinski ; Arthur J. Krener 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：23
页码：254-259
DOI：10.1016/j.ifacol.2015.11.292
语种：English
出版社：Elsevier
摘要：AbstractOne way to ensure recursive feasibility, stability and performance of Nonlinear Model Predictive Control is the combined use of a terminal region and a terminal cost. However, finding suitable combinations of the terminal cost and terminal region that guarantee closed-loop stability for nonlinear systems is in general challenging. Most existing methods are either based on the linearized system dynamics and a linear feedback, or assume that a control Lyapunov function for the system close to the origin is know. This paper proposes the use of higher order approximations of the optimal feedback and optimal cost of the infinite horizon problem via Al’brekht’Method to determine a suitable terminal region for polynomial systems. To do so, the stability conditions are reformulated in terms of a sumof-squares problem which is iteratively used to determine the terminal region. For a nonlinear chemical reactor example it is shown that the proposed approach leads to a larger terminal region and an improved performance compared to existing approaches.