Suboptimal model predictive control of a laboratory crane

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 43, Issue 14, 2010, Pages 397-402

  Graichen, K ^a   Egretzberger, M ^a   Kugi, A ^a  

^a VIENNA UNIVERSITY OF TECHNOLOGY   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

CRANES; DEGREES OF FREEDOM (MECHANICS); PREDICTIVE CONTROL SYSTEMS;

COMPUTATIONAL SPEED; CONTROL CONSTRAINT; GRADIENT PROJECTION METHODS; ITS APPLICATIONS; MEMORY EFFICIENT; REAL-TIME HARDWARE; SAMPLING STEPS; SUBOPTIMAL SOLUTION;

MODEL PREDICTIVE CONTROL;

EID: 78149275816     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20100901-3-IT-2016.00140     Document Type: Conference Paper

References (19)

1. F. Allgöwer, T.A. Badgwell, J.S. Qin, J.B. Rawlings, and S.J. Wright. Nonlinear predictive control and moving horizon estimation - an introductory overview. In P.M. Frank, editor, Advances in Control, Highlights of ECC'99, pages 391-449. Springer, 1999.
2. A.E. Bryson and Y.-C. Ho. Applied Optimal Control. Wiley & Sons, New York, 1975.
3. M. Cannon and B. Kouvaritakis. Efficient constrained model predictive control with asymptotic optimality. SIAM J. Contr. Optim., 41(1):60-82, 2002.
4. F. Chaplais and N. Petit. Inversion in indirect optimal control of multivariable systems. ESAIM: Contr. Optim. Calc. Var., 14(2):294-317, 2008. (Pubitemid 351464038)
5. H. Chen and F. Allgöwer. A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability. Automatica, 34(10):1205-1217, 1998. (Pubitemid 128431629)
6. D. DeHaan and M. Guay. A real-time framework for model-predictive control of continuous-time nonlinear systems. IEEE Trans. Automat. Contr., 52(11):2047-2057, 2007.
7. M. Diehl, R. Findeisen, F. Allgöwer, H.G. Bock, and J.P. Schlöder. Nominal stability of real-time iteration scheme for nonlinear model predictive control. IEE Proc. Contr. Theory Appl., 152(3):296-308, 2005. (Pubitemid 40681797)
8. M. Diehl, H.J. Ferreau, and N. Haverbeke. Efficient numerical methods for nonlinear MPC and moving horizon estimation. In L. Magni, D.M. Raimondo, and F. Allgöwer, editors, Nonlinear Model Predictive Control - Towards New Challenging Applications, pages 391-417, 2009.
9. 2 conditions amd the gradient projection method for optimal control problems. SIAM J. Contr. Optim., 34(4):1270-1290, 1996. (Pubitemid 126562712)
10. K. Graichen and A. Kugi. Stability and incremental improvement of suboptimal MPC without terminal constraints (prov. accepted). IEEE Trans. Automat. Contr., 2010.
11. E.B. Lee and L. Markus. Foundations of Optimal Control. Wiley, New York, 1967.
12. Y.I. Lee, B. Kouvaritakis, and M. Cannon. Constrained receding horizon predictive control for nonlinear systems. Automatica, 38(12):2093-2102, 2002. (Pubitemid 35276210)
13. S.J. Leese. Convergence of gradient methods for optimal control problems. J. Optim. Th. Appl., 21(3):329-337, 1977.
14. D.Q. Mayne, J.B. Rawlings, C.V. Rao, and P.O.M. Scokaert. Constrained model predictive control: stability and optimality. Automatica, 36(6):789-814, 2000. (Pubitemid 30587683)
15. H. Michalska and D.Q. Mayne. Robust receding horizon control of constrained nonlinear systems. IEEE Trans. Automat. Contr., 38(11):1623-1633, 1993.
16. M. Milam. Real-time optimal trajectory generation for constrained dynamical systems. PhD thesis, California Institute of Technology, Pasadena, CA, 2003.
17. M.S. Nikol'skii. Convergence of the gradient projection method in optimal control problems. Comput. Math. Model., 18(2):148-156, 2007.
18. J. Oldenburg and W. Marquardt. Flatness and higher order differential model representations in dynamic optimization. Comput. Chem. Eng., 26(3):385-400, 2002. (Pubitemid 34246495)
19. P.O.M. Scokaert, D.Q. Mayne, and J.B. Rawlings. Suboptimal model predictive control (feasibility implies stability). IEEE Trans. Automat. Contr., 44(3):648-654, 1999.