Gonzalez Villarreal, O.J., Rossiter, J. orcid.org/0000-0002-1336-0633 and Tsourdos, A. (2022) An efficient condensing algorithm for fast closed loop dual-mode nonlinear model predictive control. IET Control Theory and Applications, 16 (9). pp. 872-888. ISSN 1751-8644
Abstract
This paper presents a novel computationally efficient Closed Loop Dual-Mode Nonlinear Model Predictive Control scheme that uses closed loop models for condensing-based multiple-shooting frameworks which result in numerically robust optimisations. The proposed approach uses Time-Varying gains obtained from solving the Time-Varying Discrete Algebraic Ricatti Equation to embed feedback around the multiple-shooting trajectory, and proves the equivalence of the solution with the standard approach, thus resulting in the exact same stability, recursive feasibility and convergence properties. Moreover, the paper proposes an efficient algorithm based on an extension of the well-known O(N2p ) condensing algorithm, which can be used within the socalled Real-Time Iteration Scheme to achieve real-time performance. Simulations of a nonlinear ball-plate system, as well as of an inverted pendulum, and its extension - the triple inverted pendulum, are presented along the paper to demonstrate the advantages along with some disadvantages, focusing on the numerical conditioning, the disturbance rejection properties, and the computational performance.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited (http://creativecommons.org/licenses/by/4.0/). |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Mar 2022 15:54 |
Last Modified: | 30 Nov 2022 15:57 |
Status: | Published |
Publisher: | Wiley |
Refereed: | Yes |
Identification Number: | 10.1049/cth2.12274 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:184200 |