Advances in Nonlinear Predictive Control: A Survey on Stability and Optimality
نویسندگان
چکیده
Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov function (CLF) and cost monotonicity. Additional approaches such as output feedback, fuzzy, and neural network are introduced. This paper excludes the results for linear receding horizon controls and concentrates only on the analytical results of NRHCs, not including applications of NRHCs. Stability and optimality are focused on rather than robustness.
منابع مشابه
Distributed Nonlinear Robust Control for Power Flow in Islanded Microgrids
In this paper, a robust local controller has been designed to balance the power for distributed energy resources (DERs) in an islanded microgrid. Three different DER types are considered in this study; photovoltaic systems, battery energy storage systems, and synchronous generators. Since DER dynamics are nonlinear and uncertain, which may destabilize the power system or decrease the performanc...
متن کاملOptimal Design of Geometrically Nonlinear Structures Under a Stability Constraint
This paper suggests an optimization-based methodology for the design of minimum weight structures with kinematic nonlinear behavior. Attention is focused on three-dimensional reticulated structures idealized with beam elements under proportional static loadings. The algorithm used for optimization is based on a classical optimality criterion approach using an active-set strategy for extreme lim...
متن کاملAnalysis of Applying Event-triggered Strategy on the Model Predictive Control
In this paper, the event-triggered strategy in the case of finite-horizon model predictive control (MPC) is studied and its advantages over the input to state stability (ISS) Lyapunov based triggering rule is discussed. In the MPC triggering rule, all the state trajectories in the receding horizon are considered to obtain the triggering rule. Clearly, the finite horizon MPC is sub-optimal with ...
متن کاملRobust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length
This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...
متن کاملGlobal Stabilization of Attitude Dynamics: SDRE-based Control Laws
The State-Dependant Riccati Equation method has been frequently used to design suboptimal controllers applied to nonlinear dynamic systems. Different methods for local stability analysis of SDRE controlled systems of order greater than two such as the attitude dynamics of a general rigid body have been extended in literature; however, it is still difficult to show global stability properties of...
متن کامل