An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control
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 gain...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-06-01
|
| Series: | IET Control Theory & Applications |
| Online Access: | https://doi.org/10.1049/cth2.12274 |
| _version_ | 1811290983442153472 |
|---|---|
| author | Oscar Julian Gonzalez Villarreal John Anthony Rossiter Antonios Tsourdos |
| author_facet | Oscar Julian Gonzalez Villarreal John Anthony Rossiter Antonios Tsourdos |
| author_sort | Oscar Julian Gonzalez Villarreal |
| collection | DOAJ |
| description | 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(Np2)$O(N_p^2)$ condensing algorithm, which can be used within the so‐called 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. |
| first_indexed | 2024-04-13T04:22:35Z |
| format | Article |
| id | doaj.art-deeb7c945a0a40b6a81de995598e4b5c |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-13T04:22:35Z |
| publishDate | 2022-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-deeb7c945a0a40b6a81de995598e4b5c2022-12-22T03:02:41ZengWileyIET Control Theory & Applications1751-86441751-86522022-06-0116987288810.1049/cth2.12274An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive controlOscar Julian Gonzalez Villarreal0John Anthony Rossiter1Antonios Tsourdos2Centre for Autonomous and Cyber‐Physical Systems Cranfield University UKDepartment of Automatic Control and Systems Engineering The University of Sheffield UKCentre for Autonomous and Cyber‐Physical Systems Cranfield University UKAbstract 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(Np2)$O(N_p^2)$ condensing algorithm, which can be used within the so‐called 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.https://doi.org/10.1049/cth2.12274 |
| spellingShingle | Oscar Julian Gonzalez Villarreal John Anthony Rossiter Antonios Tsourdos An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control IET Control Theory & Applications |
| title | An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control |
| title_full | An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control |
| title_fullStr | An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control |
| title_full_unstemmed | An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control |
| title_short | An efficient condensing algorithm for fast closed loop dual‐mode nonlinear model predictive control |
| title_sort | efficient condensing algorithm for fast closed loop dual mode nonlinear model predictive control |
| url | https://doi.org/10.1049/cth2.12274 |
| work_keys_str_mv | AT oscarjuliangonzalezvillarreal anefficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol AT johnanthonyrossiter anefficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol AT antoniostsourdos anefficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol AT oscarjuliangonzalezvillarreal efficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol AT johnanthonyrossiter efficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol AT antoniostsourdos efficientcondensingalgorithmforfastclosedloopdualmodenonlinearmodelpredictivecontrol |