DocumentCode :
2580846
Title :
Reduced precision solution criteria for solving optimal control problems in NMPC
Author :
Wan, Jiaona ; Shao, Zhijiang ; Wang, Kexin ; Qian, Jixin
Author_Institution :
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
fYear :
2010
fDate :
15-17 Dec. 2010
Firstpage :
6125
Lastpage :
6130
Abstract :
Nonlinear model predictive control (NMPC) needs to solve optimal control problems (OCPs) instantaneously so that new input can be applied in time. Computational delay, which may destroy the stability of the closed-loop, usually arises in the solution procedure of non-convex and nonlinear OCP with differential equations as its constraints. The traditional termination criteria for optimization algorithms usually cause the solution procedure to converge slowly and waste computing resources. In this paper, new termination rules called Reduced Precision Solution (RPS) criteria are proposed. The RPS criteria take the practical solution precision into account and lead to good approximate solutions of OCPs. Thus, the computation time is saved, and the negative effect of computational delay is reduced. A classical nonlinear model formulated by ordinary differential equations is simulated to demonstrate the efficiency of the RPS criteria.
Keywords :
delays; differential equations; nonlinear control systems; optimal control; optimisation; NMPC; OCP; RPS; computational delay; differential equations; nonlinear model predictive control; optimization algorithms; reduced precision solution; reduced precision solution criteria; solution procedure; solving optimal control problems; waste computing resources; Computational modeling; Delay; Mathematical model; Numerical stability; Optimization; Stability criteria;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
ISSN :
0743-1546
Print_ISBN :
978-1-4244-7745-6
Type :
conf
DOI :
10.1109/CDC.2010.5717955
Filename :
5717955
Link To Document :
بازگشت