Monitoring Control Updating Period In Fast Gradient Based NMPC
Abstract
In this paper, a method is proposed for on-line monitoring of the control updating period in fast-gradient-based Model Predictive Control (MPC) schemes. Such schemes are currently under intense investigation as a way to accommodate for real-time requirements when dealing with systems showing fast dynamics. The method needs cheap computations that use the algorithm on-line behavior in order to recover the optimal updating period in terms of cost function decrease. A simple example of constrained triple integrator is used to illustrate the proposed method and to assess its efficiency.
- Publication:
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arXiv e-prints
- Pub Date:
- September 2012
- DOI:
- 10.48550/arXiv.1209.4922
- arXiv:
- arXiv:1209.4922
- Bibcode:
- 2012arXiv1209.4922A
- Keywords:
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- Computer Science - Systems and Control;
- Computer Science - Software Engineering
- E-Print:
- 6 pages, 8 Figures