TY - GEN
T1 - On the Instant Iterative Learning MPC for Nonlinear Systems
AU - Sato, Kaito
AU - Sawada, Kenji
AU - Inoue, Masaki
N1 - Funding Information:
This paper is funded by JSPS KAKENHI Grant Number JP19H02158, JP19K04444, JP19H02163 and JP17H06293.
Publisher Copyright:
© 2020 The Society of Instrument and Control Engineers - SICE.
PY - 2020/9/23
Y1 - 2020/9/23
N2 - Model predictive control (MPC) is one of the methods which optimizes the trajectory of the system with the constraints from predicted states of the system. A number of researches have studied its applications, for example, online optimization methods and fast solvers for nonlinear systems, because of its effectiveness. We propose one of the methods to apply online MPC to nonlinear systems based on instant MPC (iMPC). We recast iterative learning MPC (ILMPC) for nonlinear systems as iMPC via the primal-dual gradient algorithm, which we name "i-ILMPC". Finally, a numerical simulation is performed to demonstrate its effectiveness.
AB - Model predictive control (MPC) is one of the methods which optimizes the trajectory of the system with the constraints from predicted states of the system. A number of researches have studied its applications, for example, online optimization methods and fast solvers for nonlinear systems, because of its effectiveness. We propose one of the methods to apply online MPC to nonlinear systems based on instant MPC (iMPC). We recast iterative learning MPC (ILMPC) for nonlinear systems as iMPC via the primal-dual gradient algorithm, which we name "i-ILMPC". Finally, a numerical simulation is performed to demonstrate its effectiveness.
KW - Iterative learning control
KW - Model predictive control
KW - continuous optimization
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M3 - Conference contribution
AN - SCOPUS:85096354012
T3 - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
SP - 1166
EP - 1171
BT - 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020
Y2 - 23 September 2020 through 26 September 2020
ER -