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Abstract In this work we present a new method for calculating terminal conditions for nonlinear model predictive control (NMPC) that is non-conservative and scalable via the quasi-infinite horizon methodology. Then,… Click to show full abstract
Abstract In this work we present a new method for calculating terminal conditions for nonlinear model predictive control (NMPC) that is non-conservative and scalable via the quasi-infinite horizon methodology. Then, we introduce adaptive-horizon NMPC, a new method for updating prediction horizon lengths online via nonlinear programming sensitivity calculations. Finally, we show how these methods work together to provide an adaptive horizon NMPC implementation for a quad-tank simulation example.
Keywords:
model predictive;
nonlinear model;
adaptive horizon;
predictive control;
horizon;
quasi infinite
Journal Title: IFAC-PapersOnLine
Year Published: 2018
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Journal Title: IFAC-PapersOnLine
Year Published: 2018
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!