Conference item
A multirate variational approach to nonlinear MPC
- Abstract:
- A multirate nonlinear model predictive control (NMPC) strategy is proposed for systems with dynamics and control inputs evolving on different timescales. The proposed multirate formulation of the system model and receding horizon optimal control problem allows larger time steps in the prediction horizon compared to single-rate schemes, providing computational savings while ensuring recursive feasibility. A multirate variational model is used with a tube-based successive linearization NMPC strategy. This allows either Jacobian linearization or linearization using quadratic and linear Taylor series approximations of the Lagrangian and generalized forces respectively, providing alternative means for computing linearization error bounds. The two approaches are shown to be equivalent for a specific choice of approximation points and their structure-preserving properties are investigated. Numerical examples are provided to illustrate the multirate approach, its conservation properties and computational savings.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
Actions
Access Document
- Files:
-
-
(Preview, Accepted manuscript, pdf, 861.7KB, Terms of use)
-
- Publisher copy:
- 10.23919/ECC55457.2022.9838240
Authors
- Publisher:
- IEEE
- Host title:
- Proceedings of the 20th European Control Conference (ECC 2022)
- Pages:
- 729-735
- Publication date:
- 2022-08-05
- Acceptance date:
- 2022-03-30
- Event title:
- 20th European Control Conference (ECC 2022)
- Event location:
- London, UK
- Event website:
- https://ecc22.euca-ecc.org/
- Event start date:
- 2022-07-12
- Event end date:
- 2022-07-15
- DOI:
- EISBN:
- 978-3-9071-4407-7
- ISBN:
- 978-1-6654-9733-6
- Language:
-
English
- Keywords:
- Pubs id:
-
1262909
- Local pid:
-
pubs:1262909
- Deposit date:
-
2022-06-10
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2022
- Rights statement:
- © IEEE 2022
- Notes:
- This paper will be presented at the 20th European Control Conference (ECC 2022), 12th-15th July 2022, London, UK. This is the accepted manuscript version of the article. The final version is available from IEEE at: https://doi.org/10.23919/ECC55457.2022.9838240
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