Lyapunovbased stochastic nonlinear model predictive control. This paper presents a novel finite control set model predictive control fcsmpc strategy for solving the wellknown challenges in predictive control. To this end, a recently developed procedure for construction of constrained control lyapunov functions is utilized within a lyapunov. This work focuses on state feedback, model predictive control of particulate processes subject to asynchronous measurements.
Lyapunovbased model predictive control of nonlinear systems subject to. Techniques for uniting lyapunovbased and model predictive control. How we measure reads a read is counted each time someone views a publication summary such. In this work, we design a lyapunovbased model predictive controller lmpc for nonlinear systems subject to stochastic uncertainty. Lyapunov based predictive control of vehicle drivetrains. Secondly, a nonconservative stabilizing predictive control scheme is designed for the model of the closedloop can system using the concept of a flexible control lyapunov function lazar. Lyapunov based model predictive control for dynamic positioning of autonomous underwater vehicles chao shen 1, yang shi, brad buckham abstractthis paper presents a novel lyapunov based mod. Lyapunovbased model predictive control for tracking of. This paper presents neural lyapunov mpc, an algorithm to alternately train a lyapunov neural network and a stabilising constrained model predictive controller mpc, given a neural. Robust model predictive control of an input delayed. Lyapunovbased stochastic nonlinear model predictive. Filtering and model predictive control of networked.
Control solutions based on mpc are particularly powerful. Lyapunovbased model predictive control for dynamic. In this work, we propose the integration of a distributed model predictive control architecture with lyapunovbased model predictive control lmpc and lyapunovbased economic model. Based on the analysis of mathematical model of overhead crane, this research. Shaping the state probability density functions edward a. Request pdf lyapunovbased hybrid model predictive control for energy management of microgrids this paper presents an advanced control structure aimed at the optimal economic. Pdf lyapunovbased model predictive control of nonlinear. Over the past few years significant progress has been achieved in the field of nonlinear model predictive control nmpc, also referred to as receding horizon control or moving horizon. Lyapunovbased predictive control methodologies for networked control systems.
Lyapunovbased model predictive control of stochastic. Model predictive control mpc is an optimal control strategy based on numerical optimization. Lyapunovbased model predictive control springerlink. Ellipsoidal lyapunovbased hybrid model predictive control.
The ordinary lyapunov function is used to test whether a dynamical system is stable. Lyapunovbased model predictive control of a puc7 grid. The problem of designing feedback control systems for nonlinear systems subject to timevarying. A population balance model of a typical continuous crystallizer. Lyapunovbased hybrid model predictive control for energy. In rolf findeisen, frank allgwer, and lorenz biegler, editors, assessment and future directions of nonlinear model. Pdf lyapunov law based model predictive control scheme. Asymptotic stability in the probabilistic sense is ensured by using a lyapunovbased control.
Predictive observer based lyapunov antiswing control for overhead visual crane abstract. Neural lyapunov model predictive control preprint pdf available february 2020. To this end, we introduce a nonempty state con straint set x. Stabilization of nonlinear systems with state and control. Lyapunovbased model predictive control for dynamic positioning of autonomous underwater vehicles chao shen 1, yang shi, brad buckham abstractthis paper presents a novel. Pdf on jun 1, 2017, abdul mannan dadu and others published lyapunov law based model predictive control scheme for grid connected three phase three level neutral point clamped inverter find.
A control lyapunov approach to predictive control of. Lyapunovbased mpc incorporated a contractive constraint that bounds the lyapunov function of the mpc with a lyapunov function that was used to derive an emd compensation control law. In order to take optimality considerations into account while designing saturated tracking controllers, a lyapunov based. This result was further relaxed in 2,3 towards using a terminal inequality constraint on the. Lyapunov based model reference adaptive control for aerial. Pdf in this work, we focus on model predictive control of nonlinear systems subject to data losses. The main idea is to formulate appropriate constraints in the predictive controllers optimization problem based on an existing lyapunovbased controller, in such a. Safe modelbased reinforcement learning understand model and learning dynamics algorithm to safely acquire data and optimize task define safety, analyze a model for safety rkhs. Unlimited viewing of the articlechapter pdf and any associated supplements and figures. Flexible lyapunov function based model predictive direct. Nonlinear model predictive control with terminal invariant. Model predictive control college of engineering uc santa barbara. Safeness indexbased economic model predictive control of.
Lyapunovbased finite controlset model predictive control. The lyapunovbased controllers define a general class of feedback control laws which result in the closedloop system achieving negative definiteness of the drift of the lyapunov function derivative over the set. The main contribution of the proposed technique is the assurance of the closedloop stability and recursive feasibility, by a novel approach focused on mld models, using ellipsoidal terminal constraints and the. Lyapunovbased model predictive control of a puc7 gridconnected multilevel inverter. Lyapunovbased model predictive control of particulate. The proposed controller consists of a lyapunovbased hybrid model predictive control based on mixed logical dynamical mld framework.
Lyapunovbased model predictive control of nonlinear systems. A control lyapunov approach to predictive control of hybrid systems 1 discrete states. In control theory, a controllyapunov function is a lyapunov function for a system with control inputs. A complete solution manual more than 300 pages is available for course. Lyapunovbased economic model predictive control of nonlinear. Lyapunovbased model predictive control lmpc scheme 3335 see also 36, 37 based on uniting receding horizon control with control lyapunov functions, because it allows for an. In order to identify a model around an unstable equilibrium point, the system is perturbed under closedloop operation. Lyapunovbased predictive control methodologies for. Lyapunovbased model predictive control of nonlinear systems subject to data losses. In order to take optimality considerations into account while. Lyapunov based model predictive control for tracking of nonholonomic mobile robots under input constraints. The main contribution of the proposed technique is. The proposed economic mpc is designed via lyapunov based techniques and has two different operation modes.
Distributed lyapunovbased model predictive control for. It fulfills the gap between the existing centralized. Filtering and model predictive control of networked nonlinear systems by huiping li b. Distributed lyapunovbased model predictive control for collision avoidance of multiagent formation. The problem considered in this chapter is to control a vehicle drivetrain. Model predictive control mpc 1, 2, 3 is an optimization based control method that can handle general nonlinear dynamics and constraints. This book offers readers a thorough and rigorous introduction to nonlinear model predictive control nmpc for discretetime and sampleddata systems. Due to the optimization essential, lmpc can explicitly consider the practical constraints on the real system and generate the best possible dp control. This paper presents a novel lyapunovbased model predictive control lmpc framework for the dynamic positioning dp control of autonomous underwater vehicles auvs. Lyapunovbased model predictive control of nonlinear. Pdf lyapunovbased model predictive control for dynamic. Pdf neural lyapunov model predictive control semantic. Lee school of chemical and biomolecular engineering center for process systems engineering georgia inst. Predictive observer based lyapunov antiswing control for.
This work considers distributed predictive control of large. This paper studies the tracking problem of nonholonomic wheeled robots subject to control input constraints. A nonlinear model predictive control mpc is proposed for underactuated surface vessel usv with constrained invariant manifolds. We justify the choice of a unitary horizon by using. Aimed at the special structure of usv, the invariant. Nonlinear model predictive control theory and algorithms. In a recent work, 17, we proposed a lyapunovbased model predictive control formulation that provided guaranteed stability from an explicitly characterized set of initial conditions in the. Abstractin this work, we focus on a class of general nonlinear systems and design a model predictive control mpc scheme which is capable of optimizing. Future control inputs and future plant responses are predicted using a system model and. A cost function of the proposed model predictive controller is.
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