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Fast explicit nonlinear model predictive control via multiresolution function approximation with guaranteed stability

Author(s):

S. Summers, D. M. Raimondo, C.N. Jones, J. Lygeros, M. Morari
Conference/Journal:

8th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2010)
Abstract:

In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets. Feasibility and stability guarantees for the approximate control law are given using reachability analysis, where interval methods are used to construct a capture basin (feasible region). A constructive algorithm is provided that combines adaptive function approximation with interval methods to build a receding horizon control law that is suboptimal, yet with a region of guaranteed feasibility and stability. The resulting control law is built on a grid hierarchy that is fast to evaluate in real-time systems.

Year:

2010
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { SumEtal:2010:IFA_3557,
    author={S. Summers and D. M. Raimondo and C.N. Jones and J. Lygeros and M.
	  Morari},
    title={{Fast explicit nonlinear model predictive control via
	  multiresolution function approximation with guaranteed
	  stability}},
    booktitle={8th IFAC Symposium on Nonlinear Control Systems (NOLCOS
	  2010)},
    pages={},
    year={2010},
    address={},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=3557}
}
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