Iterated non-linear model predictive control based on tubes and contractive constraints

LEONARDO GIOVANINI; LEONARDO GIOVANINI; GUIDO SANCHEZ; GUIDO SANCHEZ; MARINA MURILLO; MARINA MURILLO

ISA TRANSACTIONS.

ELSEVIER SCIENCE INC

Lugar: Amsterdam; Año: 2016 vol. 62 p. 120 - 128

0019-0578

This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.