A Real-Time Iteration Scheme for Nonlinear Optimization in Optimal Feedback Control
SIAM Journal on Control and Optimization
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
A continuation/GMRES method for fast computation of nonlinear receding horizon control
Automatica (Journal of IFAC)
| Hi-index | 22.14 |
In this paper, a novel approach is proposed to implement low-dimensional parameterized Nonlinear Model Predictive Control (NMPC) schemes for systems showing fast dynamics. The proposed scheme is based on distributing the reconstruction of the cost function over the real lifetime of the controlled system. The framework is particularly suitable for NMPC formulations that use low dimensional control parametrization. The concrete example of a Planar Vertical Take-Off and Landing (PVTOL) aircraft stabilization problem is used to illustrate the efficiency of the proposed formulation.