Name
Abstract | ||
|---|---|---|
This paper discusses a real-time implementation of tube model predictive controllers for nonlinear input-affine systems. This is achieved by combining recent theoretical and practical advances on the construction of forward invariant tubes with state-of-the-art algorithms for nonlinear MPC, such as the real-time iteration scheme. The focus of the paper is on presenting these ideas in a tutorial style, using a 10-state quadcopter model as an example. The controller is implemented using the automatic code generation capabilities of ACADO Toolkit. Numerical experiments show that the tube MPC scheme can achieve run-times in the lower millisecond range. |
Year | Venue | Field |
|---|---|---|
2018 | 2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | Control theory,Nonlinear system,Optimal control,Control theory,Computer science,Quadcopter,Code generation,Robustness (computer science),Control engineering,Millisecond,Trajectory |
DocType | ISSN | Citations |
Conference | 0743-1619 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haimin Hu | 1 | 0 | 0.68 |
| Xuhui Feng | 2 | 0 | 0.34 |
| Rien Quirynen | 3 | 47 | 11.88 |
| Mario Eduardo Villanueva | 4 | 33 | 6.10 |
| Boris Houska | 5 | 214 | 26.14 |