Efficient move blocking strategy for multiple shooting-based non-linear model predictive control

Move blocking (MB) is a widely used strategy to reduce the degrees of freedom (DoFs) of the optimal control problem (OCP) arising in receding horizon control. The size of the OCP is reduced by forcing the input variables to be constant over multiple discretisation steps. In this study, the authors f...

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Bibliographic Details
Published in:	IET control theory & applications Vol. 14; no. 2; pp. 343 - 351
Main Authors:	Chen, Yutao, Scarabottolo, Nicoló, Bruschetta, Mattia, Beghi, Alessandro
Format:	Journal Article
Language:	English
Published:	The Institution of Engineering and Technology 29.01.2020
Subjects:	Brief Paper computation complexity computational complexity discretisation accuracy DoFs efficient move blocking strategy MB schemes multiple discretisation steps multiple shooting‐based nonlinear model predictive control nonlinear control systems nonuniform grid NMPC optimal control optimal control problem optimisation prediction horizon predictive control receding horizon control shooting step warm‐start strategy efficient move blocking strategy warm-start strategy optimal control problem MB schemes receding horizon control shooting step optimal control multiple discretisation steps optimisation prediction horizon computation complexity nonlinear control systems discretisation accuracy DoFs multiple shooting-based nonlinear model predictive control nonuniform grid NMPC predictive control computational complexity
ISSN:	1751-8644, 1751-8652
Online Access:	Get full text
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