文章基本信息

标题：Exact solution to a special class of nonlinear MPC problems
本地全文：下载
作者：Moritz Schulze Darup ; Manuel Klädtke ; Martin Mönnigmann 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：6
页码：290-295
DOI：10.1016/j.ifacol.2021.08.559
语种：English
出版社：Elsevier
摘要：AbstractWe show that exact solutions to nonlinear MPC problems for a special class of bilinear systems can be obtained by solving a finite number of convex linear MPC problems. The underlying reformulation is realized through exact (input-state) linearization and supported by special biquadratic stage costs. While such stage costs are unusual, we show that they preserve beneficial properties such as positive definiteness and that they allow for meaningful tuning. We further show that the proposed reformulation reveals some interesting insights on the structure of the optimal control law and we illustrate our approach with a numerical example.
关键词：Keywordsnonlinear/explicit MPCbilinear systemsexact linearizationbiquadratic costs