Nonlinear Model Predictive Control for Constrained Nonlinear Systems

抄録

In this paper, we consider to control a constrained nonlinear system by using the nonlinear model predictive control (NMPC) framework. The control problem is reduced to solving nonlinear algebraic equations at each sampling period. An algorithm used to solve the equations is called the Continuation/Generalized Minimum Residual(C/GMRES) method, which efficiently utilizes characteristic of the NMPC framework that optimization calculations are performed at each sampling period. Simulation results show the applicability of NMPC for mass spring damper system with nonlinearity as a specific example of constrained nonlinear systems.