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Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering

  • Jan Albersmeyer
  • Dörte Beigel
  • Christian Kirches
  • Leonard Wirsching
  • Hans Georg Bock
  • Johannes P. Schlöder
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 384)

Abstract

Although nonlinear model predictive control has become a well-established control approach, its application to time-critical systems requiring fast feedback is still a major computational challenge. In this article we investigate a new multi-level iteration scheme based on theory and algorithmic ideas from [2], and extending the idea of real-time iterations as presented in [4]. This novel approach takes into account the natural hierarchy of different time scales inherent in the dynamic model. Applications from aerodynamics and chemical engineering have been successfully treated. In this contribution we apply the investigated multi-level iteration scheme to fast optimal control of a vehicle and discuss the computational performance of the scheme.

Keywords

nonlinear model predictive control direct multiple shooting realtime optimal control multi-level iteration scheme computational results 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Jan Albersmeyer
    • 1
  • Dörte Beigel
    • 1
  • Christian Kirches
    • 1
  • Leonard Wirsching
    • 1
  • Hans Georg Bock
    • 1
  • Johannes P. Schlöder
    • 1
  1. 1.Interdisciplinary Center for Scientific Computing (IWR)Ruprecht-Karls-Universität HeidelbergHeidelbergGermany

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