文章基本信息

标题：qLPV Predictive Control - A Benchmark Study on State Space vs Input-Output Approach ⁎
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作者：Horacio M. Calderón ; Pablo S.G. Cisneros ; Herbert Werner 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：28
页码：146-151
DOI：10.1016/j.ifacol.2019.12.362
语种：English
出版社：Elsevier
摘要：This paper presents a comparison and evaluation of two approaches to Nonlinear Model Predictive Control (NMPC) via quasi-LPV modeling, by means of a benchmark problem: control of a 4 degree-of-freedom Control Moment Gyroscope (CMG). The use of quasi-LPV modeling allows us to recast the nonlinear optimization problem arising in NMPC, as a repeated quadratic program which can be solved efficiently. The difference between the two presented schemes lies in the modeling paradigm chosen to express the dynamics of the system, namely state space (SS) or input-output (IO) frameworks. In both cases, quasi-LPV models are obtained by performing a velocity-based linearization, which results in an exact representation of the nonlinear dynamics and enables offset free control. Both schemes are successfully implemented on a laboratory CMG, and the experimental results are compared and discussed. Furthermore, advantages and disadvantages of each control scheme are examined.
关键词：KeywordsLinear parameter-varying systemsmodel predictive controlcontrol moment gyroscopelinearizationmultivariable control systems