Stabilising quasi-time-optimal nonlinear model predictive control with variable discretisation

Globally Optimal Nonlinear Model Predictive Control

This paper presents a globally optimal nonlinear Model Predictive Control (NMPC) algorithm. Utilizing local techniques on nonlinear nonconvex problems leaves one susceptible to suboptimal solutions. In complex problems, local solver reliability is difficult to predict and often highly dependent upon the choice of initial guess. For the purpose of NMPC, local solvers can cause the algorithm to f...

Feasible Real-time Nonlinear Model Predictive Control

This paper discusses an algorithm for efficiently calculating the control moves for constrained nonlinear model predictive control. The approach focuses on real-time optimization strategies that maintain feasibility with respect to the model and constraints at each iteration, yielding a stable technique suitable for suboptimal model predictive control of nonlinear process. We present a simulati...

Distributed Quasi-Nonlinear Model Predictive Control by Dual Decomposition

A suboptimal approach to distributed NMPC for a class of systems consisting of nonlinear subsystems with linearly coupled dynamics subject to both state and input constraints is proposed. The approach applies a dual decomposition method to represent the original centralized NMPC problem into a distributed quasi-NMPC problem by linearization of the nonlinear system dynamics and taking into accou...

Input to State Stabilising Nonlinear Model Predictive Control Based on Qp

This paper proposes a framework for dealing with certain classes of nonlinear model predictive control (MPC) problems by solving a quadratic programming (QP) optimisation at each sampling time. This feature broadens the applicability of nonlinear MPC since many efficient tools for solving QP problems (both numerical algorithms and explicit solutions) are available. A key concept that enables th...

Nonlinear Model Predictive Control