Time-certified Input-constrained NMPC via Koopman Operator
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1-s2.0-S2405896324014319-main.pdf
Description
Published version
Size
659.22 KB
Format
Adobe PDF
Checksum (MD5)
cef7246ec92378dda532c4f4cb25a5d3
Author(s)
Wu, Liang
Ganko, Krystian
Braatz, Ricahrd D
Date Issued
2024
Journal
IFAC-PapersOnLine
Publisher
Elsevier BV
Citation
Wu, Liang, Ganko, Krystian and Braatz, Ricahrd D. 2024. "Time-certified Input-constrained NMPC via Koopman Operator." IFAC-PapersOnLine, 58 (18).
Version
Final published version
Abstract
Determining solving-time certificates of nonlinear model predictive control (NMPC) implementations is a pressing requirement when deploying NMPC in production environments. Such a certificate guarantees that the NMPC controller returns a solution before the next sampling time. However, NMPC formulations produce nonlinear programs (NLPs) for which it is very difficult to derive their solving-time certificates. Our previous work, Wu and Braatz (2023), challenged this limitation with a proposed input-constrained MPC algorithm having exact iteration complexity but was restricted to linear MPC formulations. This work extends the algorithm to solve input-constrained NMPC problems, by using the Koopman operator and a condensing MPC technique. We illustrate the algorithm performance on a high-dimensional, nonlinear partial differential equation (PDE) control case study, in which we theoretically and numerically certify the solving time to be less than the sampling time.
MIT Department
Massachusetts Institute of Technology. Department of Chemical Engineering
Terms of Use
Creative Commons Attribution-NonCommercial-NoDerivs
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DOI of Published Version
https://doi.org/10.1016/j.ifacol.2024.09.052
