Continuous-time model predictive control

Truong, Q 2007, Continuous-time model predictive control, Masters by Research, School of Electrical and Computer Engineering, RMIT University.


Document type: Thesis
Collection: Theses

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Title Continuous-time model predictive control
Author(s) Truong, Q
Year 2007
Abstract Model Predictive Control (MPC) refers to a class of algorithms that optimize the future behavior of the plant subject to operational constraints [46]. The merits of the class algorithms include its ability to handle imposed hard constraints on the system and perform on-line optimization.

This thesis investigates design and implementation of continuous time model predictive control using Laguerre polynomials and extends the design ap- proaches proposed in [43] to include intermittent predictive control, as well as to include the case of the nonlinear predictive control.

In the Intermittent Predictive Control, the Laguerre functions are used to describe the control trajectories between two sample points to save the com- putational time and make the implementation feasible in the situation of the fast sampling of a dynamic system.

In the nonlinear predictive control, the Laguerre polynomials are used to describe the trajectories of the nonlinear control signals so that the reced- ing horizon control principle are applied in the design with respect to the nonlinear system constraints.

In addition, the thesis reviews several Quadratic Programming methods and compares their performances in the implementation of the predictive control. The thesis also presents simulation results of predictive control of the autonomous underwater vehicle and the water tank.
Degree Masters by Research
Institution RMIT University
School, Department or Centre School of Electrical and Computer Engineering
Keyword(s) Automatic control
Production control -- Automation
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