Suboptimal nonlinear model predictive control with input move-blocking
Abstract
This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilizing fallback solution in some buffer for the case that the optimizer does not find a better input move-blocked solution. An extended approach superimposes the manually generated stabilizing warm-start by the move-blocked control sequence and enables a stepwise improvement of the control performance. In addition, this contribution provides a detailed review of the literature on input move-blocked model predictive control and combines important results with the findings of suboptimal model predictive control. A numerical example supports the theoretical results and shows the effectiveness of the proposed approach.
Cite
@article{arxiv.2109.12355,
title = {Suboptimal nonlinear model predictive control with input move-blocking},
author = {Artemi Makarow and Christoph Rösmann and Torsten Bertram},
journal= {arXiv preprint arXiv:2109.12355},
year = {2023}
}
Comments
Added missing condition to Eq. (11); Added reference to difference inclusion (12) in Prop. 7 and Prop. 10; Removed typos;