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A Novel Discrete-time Nonlinear Model Predictive Control Based on State Space Model
Carlos Sotelo,Antonio Favela-Contreras,Francisco Beltrán-Carbajal,Graciano Dieck-Assad,Pedro Rodríguez-Cañedo,David Sotelo 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.6
This paper proposes a novel finite dimensional discrete-time Nonlinear Model Predictive Control. This technique is based on discrete-time state-space models, Taylor series expansion for prediction and performance index optimization. Furthermore, the technique extends the concept of the Lie derivative for the discrete time case using Euler backwards method. The performance validation for the discrete-time Nonlinear Model Predictive Control uses the simulation of a single-link flexible joint robot and the inverted pendulum. Comparison of the proposed finite dimensional discrete-time Nonlinear Model Predictive Control technique with Feedback Linearization Control is also discussed. Analytical and numerical results show excellent performances for both, the single-link flexible joint and inverted pendulum controllers using the proposed discrete-time Nonlinear Model Predictive Control technique.