Synopses & Reviews
While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. Doctor 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 developed here aim to transmit a mode of thought rather than a ready-to-use recipe. Among the systems given detailed treatment are: 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.
Synopsis
While conceptually elegant, the generic formulations of nonlinear model predictive control are not ready to use for the stabilization of relatively fast systems. This book presents a successful approach to this problem based on a co-operation between structural considerations and on-line optimization. It also provides research showing how generic predictive control schemes can be extended from slow process-based systems to a variety of fast systems.
About the Author
Mazen Alamir has published many times in peer-reviewed journals (including several times in Automatica and Control Engineering Practice). He holds two patents concerning the remote localisation and estimation of speed for a moving vehicle. Doctor Alamir is a member of the IFAC technical committee on nonlinear control and, as such, has a good profile among his fellow control engineers, he is also the co-ordinator of the French CNRS workgroup on nonlinear predictive control and is a member of the French National Universities Council.
Table of Contents
Part 1: Generic Framework.- Definitions and Notation.- The Receding-horizon State Feedback.- Stabilizing Schemes with Final Equality Constraint on the State.- Stabilizing Schemes with Free Prediction Horizon and No Final Constraint on the State.- General Stabilizing Formulations for Trivial Parametrization.- Limit Cycles Stabilizing Receding-horizon Formulation for a Class of Hybrid Nonlinear Systems.- Generic Design of Dynamic State Feedback Using Receding-horizon Schemes.- Part II: Application Examples.- Introduction to Part II.- Swing-up Mechanical Systems.- Minimum-time Constrained Stabilization of Nonholonomic Systems.- Stabilization of a Rigid Satellite in Failure Mode.- Receding-horizon Solution to the Minimum-interception-time Problem.- Constrained Stabilization of a PVTOL Aircraft.- Limit Cycle Stabilizing Receding-horizon Controller for the Planar Biped Rabbit.