TY - GEN
T1 - Towards a Nonlinear Model Predictive Control using the Extended Modal Series Method
AU - Devia, Carlos Andres
AU - Roa, Maria Camila
AU - Colorado, Julian
AU - Patino, And Diego
N1 - Publisher Copyright:
© 2018 European Control Association (EUCA).
PY - 2018/11/27
Y1 - 2018/11/27
N2 - This paper addresses the Nonlinear Model Predictive Control of input-affine systems. Based on the Extended Modal Series Method, an explicit suboptimal control law is deduced that solves the two point boundary problem given by Pontryagin's Maximum Principle in the related Nonlinear Optimal Control Problem. The deduction of the control law is presented and proven. Then the proposed controller is tested in simulation in the attitude control of a quadrotor, a highly nonlinear and unstable system. The simulation results indicate good performance and near optimal behavior. This work is a background for future development of control techniques for input-affine systems.
AB - This paper addresses the Nonlinear Model Predictive Control of input-affine systems. Based on the Extended Modal Series Method, an explicit suboptimal control law is deduced that solves the two point boundary problem given by Pontryagin's Maximum Principle in the related Nonlinear Optimal Control Problem. The deduction of the control law is presented and proven. Then the proposed controller is tested in simulation in the attitude control of a quadrotor, a highly nonlinear and unstable system. The simulation results indicate good performance and near optimal behavior. This work is a background for future development of control techniques for input-affine systems.
UR - http://www.scopus.com/inward/record.url?scp=85059821650&partnerID=8YFLogxK
U2 - 10.23919/ECC.2018.8550444
DO - 10.23919/ECC.2018.8550444
M3 - Conference contribution
AN - SCOPUS:85059821650
T3 - 2018 European Control Conference, ECC 2018
SP - 679
EP - 684
BT - 2018 European Control Conference, ECC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th European Control Conference, ECC 2018
Y2 - 12 June 2018 through 15 June 2018
ER -