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Offset-Free Quasi-Infinite Horizon Nonlinear Model Predictive Controller Design Using Parameter Adaptation.
- Source :
-
Journal of Dynamic Systems, Measurement, & Control . Oct2023, Vol. 145 Issue 10, p1-13. 13p. - Publication Year :
- 2023
-
Abstract
- This paper proposes an offset-free Quasi-Infinite Horizon Nonlinear Model Predictive Controller (QIH-NMPC) using online parameter adaptation. In the proposed method, the adaptation law is modeled by a first order differential equation as a function of the tracking error and subsequently combined with a QIH-NMPC algorithm for online updating of the unknown parameter. The effectiveness of the proposed control scheme is demonstrated on a continuous stirred tank reactor (CSTR) and an experimental cascaded three-tank system with uncertain model parameters, structural plant/model mismatch and noisy measurements. For the purpose of comparison, the state-of-the-art online state and parameter estimators such as moving horizon estimation (MHE) and extended Kalman filter (EKF) were also incorporated into QIH-NMPC algorithm. The simulation and experimental results obtained showed the efficacy of the proposed adaptation scheme as it demonstrated a comparable performance to standard estimators (MHE and EKF) although with a lesser computational time. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00220434
- Volume :
- 145
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- Journal of Dynamic Systems, Measurement, & Control
- Publication Type :
- Academic Journal
- Accession number :
- 175691361
- Full Text :
- https://doi.org/10.1115/1.4063171