Fast Nonlinear Model Predictive Control Using Set Membership Approximation
نویسنده
چکیده
Set Membership function estimation methodologies under the Nearest Point approach are employed to compute an approximating function for a nonlinear model predictive controller (NMPC). The method is based on the off-line computation of a finite number ν of exact NMPC control solutions. The obtained approximating functions fulfill input constraints, have computational time which is independent on the control horizon and guarantee a level of accuracy which tends to zero by increasing ν. A nonlinear oscillator example is used to demonstrate the effectiveness of the presented results.
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