MPC for Nonlinear Systems using Trajectory Linearizations

• This report presents a simple method to extend linear MPC to nonlinear continuous-time systems. The method is based on an approximation of the underlying optimal control problem. Experiments have been carried out and show that the control algorithm manages to control various nonlinear systems.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

MPC

Nonlinear control

Automatic control

Reglerteknik

Publikations- och innehållstyp

vet (ämneskategori)

rap (ämneskategori)