Published September 29, 2022 | Version v1
Publication

Nonlinear MPC for Tracking for a Class of Non-Convex Admissible Output Sets

Description

This article presents an extension to the nonlinear model predictive control (MPC) for tracking scheme able to guarantee convergence even in cases of nonconvex output admissible sets. This is achieved by incorporating a convexifying homeomorphism in the optimization problem, allowing it to be solved in the convex space. A novel class of nonconvex sets is also defined for which a systematic procedure to construct a convexifying homeomorphism is provided. This homeomorphism is then embedded in the MPC optimization problem in such a way that the homeomorphism is no longer required in closed form. Finally, the effectiveness of the proposed method is showcased through an illustrative example

Abstract

Ministerio de Economía y Competitividad (MINECO). España DPI2016-76493-C3-1-R

Abstract

Ministerio de Ciencia e Innovación (MICIN). España PID2019-106212RB-C41

Abstract

Fonds De La Recherche Scientifique - FNRS F.4526.17

Additional details

Created:
March 24, 2023
Modified:
November 28, 2023