Implementation of continuous-time MPC using B-spline functions

M Gulan, P Minarčík - 2019 22nd International Conference on …, 2019 - ieeexplore.ieee.org
M Gulan, P Minarčík
2019 22nd International Conference on Process Control (PC19), 2019ieeexplore.ieee.org
In this paper some implementation aspects of the continuous-time stabilizing model
predictive control (MPC) based on B-spline functions are addressed. Specifically, two
problems are discussed:(a) suitable parametrization of control variables and (b) intersample
satisfaction of constraints. The proposed solution relies on B-spline functions
parametrization of the control variable during a continuous-time cost function minimization.
The close relation between B-spline curves and their control polygons is utilized for the …
In this paper some implementation aspects of the continuous-time stabilizing model predictive control (MPC) based on B-spline functions are addressed. Specifically, two problems are discussed: (a) suitable parametrization of control variables and (b) intersample satisfaction of constraints. The proposed solution relies on B-spline functions parametrization of the control variable during a continuous-time cost function minimization. The close relation between B-spline curves and their control polygons is utilized for the intersample satisfaction of constraints. Stability of the closed-loop system is standardly ensured through a quasi-infinite horizon approach by means of a terminal cost, a terminal constraint set, and an auxiliary (local) controller.
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