While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of fast systems. Dr. Alamir presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. The balance between structural and optimization aspects of the method is dependent on the system being considered so the many examples aim to transmit a mode of thought rather than a ready-to-use recipe; they include:
- double inverted pendulum;
- non-holonomic systems in chained form;
- snake board;
- missile in intercept mission;
- polymerization reactor;
- walking robot;
- under-actuated satellite in failure mode.
In addition, the basic stability results under receding horizon control schemes are revisited using a sampled-time, low-dimensional control parameterization that is mandatory for fast computation and some novel formulations are proposed which offer promising directions for future research.
ISBN: | 9781846284700 |
Publication date: | 26th July 2006 |
Author: | Mazen Alamir |
Publisher: | Springer an imprint of Springer London |
Format: | Paperback |
Pagination: | 308 pages |
Series: | Lecture Notes in Control and Information Sciences |
Genres: |
Automatic control engineering Cybernetics and systems theory Optimization Industrial chemistry and chemical engineering Automotive technology and trades |