Nonlinear Model Predictive Control: Towards New Challenging Applications (Lecture Notes in Control and Information Sciences, 384)

✍ Scribed by Lalo Magni (editor), Davide Martino Raimondo (editor), Frank Allgöwer (editor)

• Publisher: Springer
• Year: 2009
• Tongue: English
• Leaves: 562
• Category: Library

✦ Synopsis

Over the past few years significant progress has been achieved in the field of nonlinear model predictive control (NMPC), also referred to as receding horizon control or moving horizon control. More than 250 papers have been published in 2006 in ISI Journals. With this book we want to bring together the contributions of a diverse group of internationally well recognized researchers and industrial practitioners, to critically assess the current status of the NMPC field and to discuss future directions and needs. The book consists of selected papers presented at the International Workshop on Assessment an Future Directions of Nonlinear Model Predictive Control that took place from September 5 to 9, 2008, in Pavia, Italy.

✦ Table of Contents

Title Page
Preface
Contents
Stability and Robusteness
Input-to-State Stability: A Unifying Framework for Robust Model Predictive Control
Introduction
Problem Statement
Input-to-State Stability
{\it A Gentle Motivation for the ISS Notion}
{\it Regional Input-to-State Practical Stability (ISpS)}
Input-to-State Stability of Nominal MPC
Input-to-State Stability of Robust MPC
{\it Tube Based Methods for Robust Constraint Satisfaction}
{\it Predictive Controllers Based on Nominal Predictions}
{\it Min-Max Model Predictive Controllers}
Conclusions
References
Self-optimizing Robust Nonlinear Model Predictive Control
Introduction
Preliminary Definitions and Results
{\it Basic Notions and Definitions}
{\it ISS Definitions and Results}
{\it Inherent ISS through Continuous and Convex Control Lyapunov Functions}
Problem Definition
MainResults
{\it Optimized ISS through Continuous and Convex CLFs}
{\it Self-optimizing Robust Nonlinear MPC}
{\it Decentralized Formulation}
{\it Implementation Issues}
Illustrative Example
Conclusions
References
Set Theoretic Methods in Model Predictive Control
Introduction
System Description and Role of Information
Constrained Controllability
Fragility of Receding Horizon Control
Simple Tube Model Predictive Control
Concluding Remarks
References
Adaptive Robust MPC: A Minimally-Conservative Approach
Introduction
Notation and Mathematical Preliminaries
Problem Description
Adaptive Robust Design Framework
{\it Adaptation of Parametric Uncertainty Sets}
{\it Feedback-MPC Framework}
{\it Generalized Terminal Conditions}
{\it Closed-Loop Stability}
Computation and Performance Issues
{\it Excitation of the Closed-Loop Trajectories}
{\it Extension to Open-Loop MPC}
{\it A Practical Design Approach for W and ${\mathbb X}{f}$}
Robustness Issues
Conclusions
References
Enlarging the Terminal Region of NMPC with Parameter-Dependent Terminal Control Law
Introduction
Preliminaries
Enlarging the Terminal Region of Quasi-infinite Horizon NMPC
{\it Polytopic Linear Differential Inclusions}
{\it Terminal Region of NMPC Based on PLDI}
Optimization of the Terminal Region
A Numerical Example
Conclusions
References
Model Predictive Control with Control Lyapunov Function Support
Introduction
System Description and Problem
Model Predictive Control Algorithm
Choice of ${\bar x} ^{+}$
{\it Open-Loop Approach}
{\it Closed-Loop Approach}
Example
Conclusion and Future Work
References
Further Results on “Robust MPC Using Linear Matrix Inequalities”
Introduction
Preliminary Definitions and Results
{\it Basic Notions and Definitions}
{\it Input-to-State Stability}
{\it Input-to-State Stability Conditions for Inf-sup Robust MPC}
Problem Formulation
{\it Existing Solutions}
Main Results
{\it LMI-Based-Solution}
{\it Relation to LMI-Based ${\mathbb H}{\infty}$ Control Design}
Conclusions
References
LMI-Based Model Predictive Control for Linear Discrete-Time Periodic Systems
Introduction
Problem Setup
MPC For Linear Periodic Systems
Simulation Results
Conclusions
References
Receding Horizon Control for Linear Periodic Time-Varying Systems Subject to Input Constraints
Introduction
Problem Statement
{\it Receding Horizon Control without Input Constraints}
{\it Receding Horizon Control with Input Constraints}
Simulation Results
Conclusion
References
Control of Complex Systems
Optimizing Process Economic Performance Using Model Predictive Control
Introduction
Overview of the Process Control Literature
Turnpike Theorems
Linear Models
{\it Terminal Constraint MPC}
{\it Terminal Penalty MPC}
{\it Economic Cost Function}
Nonlinear Models
{\it Maximizing Production Rate in a CSTR}
Conclusions and Future Work
References
Hierarchical Model Predictive Control of Wiener Models
Introduction
System and Control at the Upper Level
{\it System and Control Problem}
{\it Robust MPC for the Upper Level}
System and Control at the Lower Level
{\it System}
{\it MPC for the Lower Level}
The Hierarchical Control System
Conclusions
References
Multiple Model Predictive Control of Nonlinear Systems
Introduction
Control Structure
{\it Model Bank}
{\it State Estimation}
{\it Model Weighting Calculation}
Model Predictive Control
Example System
Simulation Results
Summary
References
Stabilizing Nonlinear Predictive Control over Nondeterministic Communication Networks
Introduction
Problem Statement
Proposed Method
{\it Compensation of Measurement Delays}
{\it Compensation of Actuation Delays}
{\it Packet Dropouts}
Simulation Results
Conclusions
References
Distributed Model Predictive Control System Design Using Lyapunov Techniques
Introduction
Preliminaries
{\it Problem Formulation}
{\it Lyapunov-Based Controller}
{\it Centralized Lyapunov-Based MPC}
Distributed LMPC
{\it Distributed LMPC Formulations}
{\it Distributed LMPC Stability}
Application to a Reactor-Separator Process
Conclusion
References
Stabilization of Networked Control Systems byNonlinear Model Predictive Control: A Set Invariance Approach
Introduction
Main Notations
Problem Formulation
{\it Network Delay Compensation}
{\it Current State Reconstruction and Prediction}
{\it Finite Horizon Predictive Controller}
Set Invariance Theory and Robust Stability
References
Nonlinear Model Predictive Control for Resource Allocation in the Management of Intermodal Container Terminals
Introduction
A Dynamic Model of Terminal Operations
Predictive Control of Container Flows
Simulation Results
References
Predictive Power Control of Wireless Sensor Networks for Closed Loop Control
Introduction
WSNs for Networked Control
Trading Energy Use for Control Performance
Predictive Power Control
Simulation Study
Conclusions
References
On Polytopic Approximations of Systems with Time-Varying Input Delays
Introduction
Preliminaries
{\it Basic Notation and Definitions}
{\it Problem Definition}
{\it Existing Solutions}
MainResult
Suitability for MPC
Conclusions
References
Stochastic Systems
A Vector Quantization Approach to Scenario Generation for Stochastic NMPC
Introduction
Motivational Problem
Stochastic Optimization Strategies
Scenario Generation
Return to the Motivational Problem
Conclusion
References
Successive Linearization NMPC for a Class of Stochastic Nonlinear Systems
Introduction
{\it Problem Statement}
Successive Linearization MPC
Probabilistic Tubes
{\it Tube Constraints}
{\it Terminal Sets and Terminal Cost}
Receding Horizon Control Law
Example
References
Sequential Monte Carlo for Model PredictiveControl
Introduction
Problem Formulation
Monte Carlo Optimisation
Stochastic Control Using MPC Based on SMC
Numerical Examples
References
State Estimation
An NMPC Approach to Avoid Weakly Observable Trajectories
Introduction
Problem Setup and Motivation
Avoiding Weakly Observable Trajectories
Collision Avoidance Maneuver with Guaranteed Observability
{\it Vehicle Dynamics}
{\it Collision Avoidance Maneuver}
Conclusions
References
State Estimation and Fault Tolerant Nonlinear Predictive Control of an Autonomous Hybrid System Using Unscented Kalman Filter
Introduction
State Estimation Using UKF
UKF Based NMPC Formulation
Fault Diagnosis
NMPC with Fault Accommodation
Simulation Study
Conclusions
References
Design of a Robust Nonlinear Receding-Horizon Observer - First-Order and Second-Order Approximations
Introduction
Problem Statement
{\it Receding-Horizon Estimation}
{\it Robust Receding-Horizon Estimation}
On the Use of Linearization Techniques
Extension to Second-Order
Continuous Cultures of Phytoplankton
Conclusions
References
State Estimation in Nonlinear Model Predictive Control, Unscented Kalman Filter Advantages
Introduction
Nonlinear Model Predictive Control
State Estimation: Unscented Kalman Filter
{\it UKF Formulation}
A Locally Weakly Unobservable System
Conclusions
References
Tracking
MPC for Tracking of Constrained Nonlinear Systems
Introduction
Problem Description
MPC for Tracking
Example
Conclusion
References
A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC
Introduction
Flatness and Trajectory Parameterisation
{\it Parameterisation of Flat Outputs and Their Derivatives}
{\it Trajectory Parameterisation Using Splines}
Using MPC to Shape the Reference Trajectory
{\it MPC Formulation}
{\it Iterative Method for Reference Trajectory Generation}
Simulation Example
Conclusion
References
Nonlinear Model Predictive Path-Following Control
Introduction
Model Predictive Path-Following Control
Simulation Results
References
Algorithms for Explicit Solution
A Survey on Explicit Model Predictive Control
Model Predictive Control
{\it Linear Model and Quadratic Cost}
{\it Linear Model and Linear Cost}
{\it Linear Uncertain Model and Min-Max Costs}
{\it Hybrid Model and Linear or Quadratic Costs}
{\it Extensions of the MPC Formulation}
Explicit Model Predictive Control
{\it Multiparametric Programming: General Formulation}
{\it Multiparametric Quadratic Programming}
{\it Multiparametric Linear Programming}
{\it Explicit Solution of Min-Max MPC}
{\it Explicit Solution of Hybrid MPC}
Reducing Complexity of Explicit MPC
{\it A Novel Practical Approach for Reducing Complexity of Explicit MPC}
Implementation of Explicit MPC
Tools for Explicit MPC
Explicit MPC in Applications
Conclusions
References
Explicit Approximate Model Predictive Control of Constrained Nonlinear Systems with Quantized Input
Introduction
Formulation of Quantized Nonlinear Model Predictive Control Problem
Approximate mp-NIP Approach to Explicit Quantized NMPC
{\it Computation of Feasible PWC Solution}
{\it Estimation of Error Bounds}
{\it Approximate mp-NIP Algorithm}
Explicit Quantized NMPC of an Electropneumatic Clutch Actuator Using On/Off Valves
{\it Description of the Electropneumatic Clutch Actuator}
{\it Design of Explicit Quantized NMPC}
References
Parametric Approach to Nonlinear Model Predictive Control
Introduction
Problem Statement
Transformation to Shortest Path DOP
{\it Optimality Conditions}
{\it Parametrization of the HJB Equation}
{\it Shortest Path DOP}
Parametric Solutions for 2D Cases
Illustrative Example
Conclusion
References
Algorithms for Numerical Solution
Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation
Introduction
Problem Formulation
{\it NMPC Optimal Control Problem}
{\it Moving Horizon Estimation: Nearly a Dual Problem}
{\it Sequential vs. Simultaneous Optimal Control}
Newton Type Optimization
{\it Sequential Quadratic Programming}
{\it Interior Point Methods}
Numerical Optimal Control
{\it The Linearized Optimal Control Problem}
{\it Elimination of Algebraic Variables}
{\it Condensing}
{\it Band Structure Exploiting Riccati Based Solutions}
{\it A Classification of Optimal Control Methods}
Online Initialization and NLP Sensitivities
{\it Shift Initialization}
{\it Parametric Sensitivities}
{\it Generalized Tangential Predictors via SQP Methods}
Online Algorithms
{\it A Survey of Online Optimization for NMPC}
Conclusions
References
Nonlinear Programming Strategies for State Estimation and Model Predictive Control
Introduction
MHE and NMPC Formulations
Full-Space Interior-Point NLP Solvers
{\it Computational Issues}
{\it NLP Sensitivity and Warm-Starts}
Advanced-Step MHE and NMPC Strategies
{\it Stability Issues}
Case Study
Conclusions
References
A Framework for Monitoring Control Updating Period in Real-Time NMPC Schemes
Introduction
Problem Statement
{\it Recall on Parameterized NMPC}
{\it Implementation Scheme for Fast Systems}
{\it The Scope of the Present Contribution}
Theoretical Framework
On-Line Identification of the Key Maps
Numerical Investigations
{\it Qualitative Analysis}
{\it An Illustrative Example}
Conclusion
References
Practical Issues in Nonlinear Model Predictive Control: Real-Time Optimization and Systematic Tuning
Introduction
Problem Formulation
Real-Time Algorithms
{\it Real-Time Costate Equation}
{\it Continuation/GMRES Method}
{\it Applications}
Tuning of Performance Index
{\it Reference Model}
{\it Performance Index}
{\it Numerical Examples}
Conclusions
References
Fast Nonlinear Model Predictive Control via Set Membership Approximation: An Overview
Introduction
Problem Settings
{\it Approximated NMPC Laws: Stability Results}
Set Membership Approximation Techniques for NMPC
{\it Prior Information}
{\it “Optimal” Approximation}
{\it “Nearest Point” Approximation}
{\it “Local” Approximation}
Numerical Example
Conclusions
References
Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering
Introduction
Direct Multiple Shooting for NMPC
{\it Parameterization of the Infinite OCP}
{\it Structure-Exploiting Nonlinear Programming}
The Multi-level Iteration Scheme
{\it Initial Value Embedding and Real-Time Iterations}
{\it Multi-level Extensions}
Computational Results
{\it Classical Real-Time Iterations}
{\it Multi-level Iteration Schemes}
{\it Computation Times}
Conclusions
References
Unconstrained NMPC Based on a Class of Wiener Models: A Closed Form Solution
Introduction
OBF-WienerModel
Multistep Quadratic Control Law
Experimental Studies
Conclusion
References
An Off-Line MPC Strategy for Nonlinear Systems Based on SOS Programming
Introduction
Problem Formulation
MainResult
A Low-Demanding Receding Horizon Control Algorithm
Illustrative Example
Conclusions
References
Applications
NMPC for Propofol Drug Dosing during Anesthesia Induction
Introduction
Patient Model
The NEPSAC Approach to MPC
Simulation Results during Induction Phase
{\it Ideal Case: No Modelling Errors}
{\it Real Case: Modelling Errors}
Conclusion
References
Spacecraft Rate Damping with Predictive Control Using Magnetic Actuators Only
Introduction
Nonlinear Model Predictive Control
Spacecraft Dynamics
Rate Damping with NMPC
Simulation Results
Conclusions
References
Nonlinear Model Predictive Control of a Water Distribution Canal Pool
Introduction
Water Distribution Canal Pool Prototype
Orthogonal Collocation
NMPC for Hyperbolic Systems
Results
Conclusions
References
Swelling Constrained Control of an Industrial Batch Reactor Using a Dedicated NMPC Environment: $OptCon$
Introduction
Motivation and Process Model
The NMPC Strategy and the OptCon Environment
{\it The Control Problem}
{\it The NMPC Formulation}
{\it Solution Strategy and Software Tool: OptCon}
{\it Real-Time Implementation}
Results and Discussion
Conclusions
References
An Application of Receding-Horizon Neural Control in Humanoid Robotics
Introduction
Receding Horizon Regulator: A Neural Approach
{\it From a Functional Optimization Problem to a Nonlinear Programming One}
{\it Solution of the Nonlinear Programming Problem by Stochastic Gradient}
Results
Conclusion
References
Particle Swarm Optimization Based NMPC: An Application to District Heating Networks
Introduction
Particle Swarm Optimization Based NMPC
{\it Classical PSO Algorithm}
{\it Application to NMPC}
District Heating Networks Control
{\it District Heating Networks Modeling}
{\it Receding Horizon Based Control of District Heating Networks}
{\it Numerical Results}
Conclusions and Discussion
References
Explicit Receding Horizon Control of Automobiles with Continuously Variable Transmissions
Introduction
Modeling
Controller Design
{\it ERHC Design}
{\it Reference Signal Generator}
Simulator Based Verification
Conclusions
References
Author Index