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Fast nonlinear model predictive control with an application in automotive engineering. (English) Zbl 1195.93036

Magni, Lalo (ed.) et al., Nonlinear model predictive control. Towards new challenging applications. Selected papers based on the presentations at the international workshop on assessment and future directions of nonlinear model predictive control (NMPC08), Pavia, Italy, September 5–9, 2008. Berlin: Springer (ISBN 978-3-642-01093-4/hbk; 978-3-642-01094-1/ebook). Lecture Notes in Control and Information Sciences 384, 471-480 (2009).
Summary: Although nonlinear model predictive control has become a well-established control approach, its application to time-critical systems requiring fast feedback is still a major computational challenge. In this article we investigate a new multi-level iteration scheme based on theory and algorithmic ideas from [H. G. Bock, M. Diehl, E. A. Kostina and J. P. Schlöder, Constrained optimal feedback control for ADE. In: Biegler, L. (eds.), Real-Time PDE-Constrained Optimization, pp. 3–24, SIAM, Philadelphia (2007)], and extending the idea of real-time iterations as presented in [M. Diehl, H. G. Bock, J. P. Schlöder, R. Findeisen, Z. Nagy and F. Allgöwer, Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations, J. Proc. Contr. 12(4), 577–585 (2002)]. This novel approach takes into account the natural hierarchy of different time scales inherent in the dynamic model. Applications from aerodynamics and chemical engineering have been successfully treated. In this contribution we apply the investigated multi-level iteration scheme to fast optimal control of a vehicle and discuss the computational performance of the scheme.
For the entire collection see [Zbl 1165.93004].

MSC:

93B40 Computational methods in systems theory (MSC2010)
93B52 Feedback control
93C10 Nonlinear systems in control theory

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