Aisberg: dal 2009 è l'archivio ad accesso aperto dell'Università di Bergamo; dal 2011 è anche l'anagrafe della ricerca di Ateneo.
L'archivio è un'implementazione di IRIS, il sistema informativo per la ricerca sviluppato da Cineca.
EnglishThis paper deals with the tracking problem for constrained nonlinear systems using a model predictive control (MPC) law. MPC provides a control law suitable for regulating constrained linear and nonlinear systems to a given target steady state. However, when the target operating point changes, the feasibility of the controller may be lost and the controller fails to track the reference. In this paper, a novel MPC for tracking changing constant references is presented. The main characteristics of this controller are: (i) considering an artificial steady state as a decision variable, (ii) minimizing a cost that penalizes the error with the artificial steady state, (iii) adding to the cost function an additional term that penalizes the deviation between the artificial steady state and the target steady state (the so-called offset cost function) and (iv) considering an invariant set for tracking as extended terminal constraint. The calculation of the stabilizing parameters of the proposed controller is studied and some methods are proposed. The properties of this controller has been tested on a constrained CSTR simulation model.
(2009). MPC for tracking of constrained nonlinear systems . Retrieved from http://hdl.handle.net/10446/169516
| Titolo: | MPC for tracking of constrained nonlinear systems |
| Tutti gli autori: | Ferramosca, Antonio; Limon, Daniel; Alvarado, Ignacio; Alamo, Teodoro; Camacho, Eduardo F. |
| Data di pubblicazione: | 2009 |
| Abstract (eng): | This paper deals with the tracking problem for constrained nonlinear systems using a model predictive control (MPC) law. MPC provides a control law suitable for regulating constrained linear and nonlinear systems to a given target steady state. However, when the target operating point changes, the feasibility of the controller may be lost and the controller fails to track the reference. In this paper, a novel MPC for tracking changing constant references is presented. The main characteristics of this controller are: (i) considering an artificial steady state as a decision variable, (ii) minimizing a cost that penalizes the error with the artificial steady state, (iii) adding to the cost function an additional term that penalizes the deviation between the artificial steady state and the target steady state (the so-called offset cost function) and (iv) considering an invariant set for tracking as extended terminal constraint. The calculation of the stabilizing parameters of the proposed controller is studied and some methods are proposed. The properties of this controller has been tested on a constrained CSTR simulation model. |
| Nelle collezioni: | 1.4.01 Contributi in atti di convegno - Conference presentations |
File allegato/i alla scheda:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| TrackingNL.pdf | publisher's version - versione editoriale | Licenza default Aisberg | Testo non consultabile | |
| Dichiarazione di difformità.pdf | non applicabile | Licenza default Aisberg | Testo non consultabile |
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