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Semi-explicit Distributed NMPC
2012In this chapter, a suboptimal approach to distributed NMPC for systems consisting of nonlinear subsystems with linearly coupled dynamics, subject to both state and input constraints, is considered. The approach applies the dynamic dual decomposition method and reformulates the original centralized NMPC problem into a distributed quasi-NMPC problem by ...
Alexandra Grancharova, Tor Arne Johansen
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Eco-cruise NMPC Control for Autonomous Vehicles
2019 19th International Conference on Advanced Robotics (ICAR), 2019The purpose of this work is the development of a nonlinear model-based predictive controller for Eco-cruise in autonomous ground vehicles. Eco-driving consists of a group of strategies adopted by a driver aiming to reduce fuel consumption and improvement of safety and comfort levels during a trip. Through the use of latitude-longitude information and a
Kenny A. Q. Caldas, Valdir Grassi Jr.
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The Advanced Step Real Time Iteration for NMPC
2019 IEEE 58th Conference on Decision and Control (CDC), 2019This paper introduces an extension to the well-known Real Time Iteration (RTI) for Nonlinear Model Predictive Control (NMPC). We combine algorithmic ideas of the RTI, Advanced Step Controller and Multi-Level Iteration (MLI) framework and get thereby a family of new algorithms that allow one to trade control performance for computational efficiency in a
Armin Nurkanovic +3 more
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N-GKLS: An NMPC problem generator and a test platform for NMPC solvers
Expert Systems with Applications, 2023JiaHong Xu, Lihong Xu
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A Low Dimensional Parameterized NMPC Scheme for Quadrotors
2018 5th International Conference on Control, Decision and Information Technologies (CoDIT), 2018In this paper, a parameterized NMPC scheme is presented for path following and stabilization of a quadrotor helicopter. The control strategy deals structurally with the constraints on control inputs and ensures nice performance for attitude and position control.
André Murilo, Renato Vilela Lopes
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NMPC Based Approach for Cooperative Target Defence
2019 American Control Conference (ACC), 2019We consider a three-agent pursuit-evasion problem involving an attacker, and a target-defender team. The goal of the attacker is to capture the target, while that of the target is to escape the capture and the goal of the defender is to intercept the attacker before the attacker reaches the target.
Amith Manoharan +8 more
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Hybrid NMPC Control of a Sugar House
2007Plant-wide control is attracting considerable interest, both as a challenging research field and because of its practical importance. It is a topic [1] characterized by complexity in terms of the number and type of equipments involved, diversity of aims, and lack of adequate models and control policies.
D. Sarabia +4 more
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