文章基本信息

标题：Fast constrained nonlinear model predictive control for implementation on microcontrollers
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作者：Martial Ndje ; Laurent Bitjoka ; Alexandre Teplaira Boum 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：4
页码：19-24
DOI：10.1016/j.ifacol.2021.10.004
语种：English
出版社：Elsevier
摘要：AbstractModel predictive control (MPC) is based on the systematic resolution of an online optimization problem at each time step. In practice, the computation cost is often very high, especially for the non-linear case under constraints, thus complicating the application of MPC to real-time systems. This paper proposes to improve the non-linear quadratic dynamic matrix control (NLQDMC) algorithm for MPC by solving constrained optimization problems only when necessary, and defaulting to the unconstrained solution whenever possible. The new algorithm is called fast NLQDMC (FNLQDMC) and is applied to the control of a nonlinear system comprised of converter and a DC machine, and implemented in a microcontroller board. The results obtained show that, depending to the setpoint profiles, this algorithm saves more than 64% computation of the constrained problem compared to the conventional NLQDMC, while keeping identical performance in terms of setpoint tracking and constraint satisfactions.
关键词：KeywordsModel Predictive Control (MPC)online optimizationFast Non-Linear Quadratic Dynamic Matrix Control (FNLQDMC)Microcontroller