Abstract
This chapter considers the design of explicit MPC controllers for constrained nonlinear systems by applying the approximate multi-parametric Nonlinear Programming (mp-NLP) approaches, described in Section 1.1. It is organized as follows. In Section 4.2, general regulation and reference tracking NMPC problems are formulated and represented as an mp-NLP problem. In Section 4.3, it is shown that bounding the approximation error of the approximate explicit solution to convex regulation NMPC problems ensures the asymptotic stability of the suboptimal closed-loop system. In Section 4.4, an explicit approximate NMPC for compressor surge regulation is designed. In Section 4.5, the approximate mp-NLP approach is applied to design an explicit reference tracking NMPC controller for position control of an electropneumatic clutch actuator. The performance of the explicit NMPC controller is compared with that of a sliding mode controller and of a PID controller. Section 4.6 briefly discusses an explicit NMPC application to time-optimal decompression of divers for implementation in low cost diving computers.
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Grancharova, A., Johansen, T.A. (2012). Explicit NMPC via Approximate mp-NLP. In: Explicit Nonlinear Model Predictive Control. Lecture Notes in Control and Information Sciences, vol 429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28780-0_4
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DOI: https://doi.org/10.1007/978-3-642-28780-0_4
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