Move blocking strategies in receding horizon control

Cagienard, Raphael; Grieder, P.; Kerrigan, Eric C.; Morari, Manfred

doi:10.1016/j.jprocont.2007.01.001

Cited by 243 publications

(89 citation statements)

References 13 publications

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“…= u k+N −1|k . The test (13) is readily adjusted for this setup and returns a problematic state in a couple of seconds, thus numerically supporting the well-known fact that move-blocking can destroy standard stabilizing strategies [8,12]. As an alternative to the proposed test, the explicit solution can be derived and analyzed.…”

Section: Example 52 (System With State Disturbances)mentioning

confidence: 65%

“…Example 5.4 (4D ball-and-plate) As a final illustration, we revisit the ball-and-plate example from [6,8,15]. The system has four states, all constrained, and one constrained input.…”

Section: Example 52 (System With State Disturbances)mentioning

confidence: 99%

“…Unfortunately, although it is absolutely recommended from a theoretical point of view, it is not always wanted nor easy to construct an MPC controller which has an a-priori guarantee of recursive feasibility, either due to theoretical complications [8,12], or pragmatic decisions Email address: johanl@isy.liu.se (Johan Löfberg).…”

Section: Introductionmentioning

confidence: 99%

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Oops! I cannot do it again: Testing for recursive feasibility in MPC

Löfberg

2012

Automatica

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One of the most fundamental problems in model predictive control (MPC) is the lack of guaranteed stability and feasibility. It is shown how Farkas' Lemma in combination with bilevel programming and disjoint bilinear programming can be used to search for problematic initial states which lack recursive feasibility, thus invalidating a particular MPC controller. Alternatively, the method can be used to derive a certificate that the problem is recursively feasible. The results are initially derived for nominal linear MPC, and thereafter extended to the additive disturbance case.

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Section: Example 52 (System With State Disturbances)mentioning

confidence: 65%

“…Example 5.4 (4D ball-and-plate) As a final illustration, we revisit the ball-and-plate example from [6,8,15]. The system has four states, all constrained, and one constrained input.…”

Section: Example 52 (System With State Disturbances)mentioning

confidence: 99%

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Oops! I cannot do it again: Testing for recursive feasibility in MPC

Löfberg

2012

Automatica

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“…As pointed out in Cagienard et al [2007] the standard feasibility and stability arguments can not be used to prove stability for this move blocking strategy. Instead we aim to prove stability by using our MILP test.…”

Section: Move Blocking and No Stabilizing Constraintsmentioning

confidence: 99%

“…However there exist many MPC formulations, such as move blocking Cagienard et al [2007] or soft constraints Zeilinger et al [2014] (i.e., slack), for which it can be difficult to show stability using this standard framework as presented in . Even if it allows for the possibility to guarantee stability, the addition of the terminal constraints can add a significant complexity to the original problem that might be unnecessary and limit the applicability of MPC within certain fields.…”

Section: Introductionmentioning

confidence: 99%

Fighter Aircraft Maneuver Limiting Using MPC : Theory and Application

Simon¹

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Flight control design for modern fighter aircraft is a challenging task. Aircraft are dynamical systems, which naturally contain a variety of constraints and nonlinearities such as, e.g., maximum permissible load factor, angle of attack and control surface deflections. Taking these limitations into account in the design of control systems is becoming increasingly important as the performance and complexity of the aircraft is constantly increasing.The aeronautical industry has traditionally applied feedforward, anti-windup or similar techniques and different ad hoc engineering solutions to handle constraints on the aircraft. However these approaches often rely on engineering experience and insight rather than a theoretical foundation, and can often require a tremendous amount of time to tune.In this thesis we investigate model predictive control as an alternative design tool to handle the constraints that arises in the flight control design.We derive a simple reference tracking MPC algorithm for linear systems that build on the dual mode formulation with guaranteed stability and low complexity suitable for implementation in real time safety critical systems.To reduce the computational burden of nonlinear model predictive control we propose a method to handle the nonlinear constraints, using a set of dynamically generated local inner polytopic approximations. The main benefit of the proposed method is that while computationally cheap it still can guarantee recursive feasibility and convergence.An alternative to deriving MPC algorithms with guaranteed stability properties is to analyze the closed loop stability, post design. Here we focus on deriving a tool based on Mixed Integer Linear Programming for analysis of the closed loop stability and robust stability of linear systems controlled with MPC controllers.To test the performance of model predictive control for a real world example we design and implement a standard MPC controller in the development simulator for the JAS 39 Gripen aircraft at Saab Aeronautics. This part of the thesis focuses on practical and tuning aspects of designing MPC controllers for fighter aircraft. Finally we have compared the MPC design with an alternative approach to maneuver limiting using a command governor. v Populärvetenskaplig sammanfattningStyrsystem i moderna flygplan ska sätta stopp om piloten gör en hastig manöver som äventyrar säkerheten. Speciellt viktigt är det i jaktflygplan där piloten kan tvingas manövrera flygplanet precis på gränsen för vad konstruktionen klarar. Reglermetoder från processindustrin anpassas nu för att passa flyget.En av de viktigaste faktorerna när man konstruerar ett flygplan är att flygplanet ska vara enkelt och säkert att flyga. Därför är det av yttersta vikt att man konstruerar flygplanens styrsystem så att piloten inte kan sätta flygplanet i en sådan situation att säkerheten äventyras. En sådan situation kan vara att piloten styr flygplanet så att det tappar sin lyftkraft och därmed sin förmåga att flyga eller också att kraftig turbulens u...

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Model‐Based Predictive Control

Moulis¹

2023

Advanced Chemical Process Control

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Move blocking strategies in receding horizon control

Cited by 243 publications

References 13 publications

Oops! I cannot do it again: Testing for recursive feasibility in MPC

Oops! I cannot do it again: Testing for recursive feasibility in MPC

Fighter Aircraft Maneuver Limiting Using MPC : Theory and Application

Model‐Based Predictive Control

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