On Prediction Model Fidelity in Explicit Nonlinear Model Predictive Vehicle Stability Control

Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control

Acknowledgments I would like to express my appreciation to my advisor, Dr. James B. Rawl-ings. His diicult questions have pushed this work forward when it stalled and his insight has allowed me to progress when it seemed impossible. His vision of computing in this profession has provided his research group with the best computer facilities at the University. The work reported in this dis-sertat...

Computational Aspects of Approximate Explicit Nonlinear Model Predictive Control

It has recently been shown that the feedback solution to linear and quadratic constrained Model Predictive Control (MPC) problems has an explicit representation as a piecewise linear (PWL) state feedback. For nonlinear MPC the prospects of explicit solutions are even higher than for linear MPC, since the bene…ts of computational e¢ ciency and veri…ability are even more important. Preliminary st...

Explicit robust model predictive control using recursive closed-loop prediction

In this paper, we develop an algorithm to compute robust MPC explicit solutions for constrained MIMO systems with internal uncertainties and external disturbances. Our approach is based on a recursive closedloop prediction strategy to realize a finite horizon robust MPC regulator, which has the feature that only one-step state prediction is sufficient to realize robust MPC with an arbitrary pre...

Symmetric Explicit Model Predictive Control ?

We exploit symmetry to reduce the memory storage requirements of linear explicit model predictive controllers. In the first part of the paper we define controller symmetry. We describe how symmetry can be used to compress the explicit controller and discuss the implementation of the resulting compressed controller. In the second part we develop a method for computing the reduced-memory controll...

Nonlinear Model Predictive Control