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arXiv · 2109.12355

Suboptimal nonlinear model predictive control with input move-blocking

Artemi Makarow·Christoph Rösmann·Torsten Bertram
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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.

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BibTeXRIS

Artemi Makarow, Christoph Rösmann, Torsten Bertram. 2021-09-25. Suboptimal nonlinear model predictive control with input move-blocking. https://doi.org/10.1080/00207179.2022.2152381

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