A modularization approach for nonlinear model predictive control of distributed fast systems.

Dentler, Jan; Kannan, Somasundar; Mendez, Miguel Angel Olivares; Voos, Holger

Abstract

Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability and ease of implementation are issues of the existing control solutions, especially for more advanced methods such as model predictive control. This paper is addressing these issues by presenting an efficient modular composition scheme for distributed fast nonlinear systems. The advantage of this modularization approach is the capability of changing control objectives, constraints, dynamics and system topology online while maintaining fast computation. This work analyzes the functions that have to be provided for a continuation generalized minimal residual method (CGMRES) model predictive controller based on the underlying control problem. The specific structure of these functions allows their decomposition into suitable fast modules. These modules are then used to recompose the functions which are required for the control of distributed systems in a computational efficient way, while maintaining the flexibility to dynamically exchange system parts. To validate this computational efficiency, the computation time of the proposed modular control approach is compared with a standard nonmodular implementation in a pursuit scenario of quadrotor unmanned aerial vehicles (UAV). Furthermore the real-time applicability is discussed for the given scenario.

Citation

DENTLER, J., KANNAN, S., MENDEZ, M.A.O. and VOOS, H. 2016. A modularization approach for nonlinear model predictive control of distributed fast systems. In Proceedings of 24th Mediterranean conference on control and automation 2016 (MED 2016), 21-24 June 2016, Athens, Greece. Piscataway: IEEE [online], pages 292-297. Available from: https://doi.org/10.1109/MED.2016.7535973

• Conference Name: 24th Mediterranean conference on control and automation 2016 (MED 2016)
• Conference Location: Athens, Greece
• Start Date: Jun 21, 2016
• End Date: Jun 24, 2016
• Acceptance Date: Aug 8, 2016
• Online Publication Date: Jun 21, 2016
• Publication Date: Aug 8, 2016
• Deposit Date: Dec 5, 2022
• Publicly Available Date: Dec 5, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 292-297
• DOI: https://doi.org/10.1109/MED.2016.7535973
• Keywords: Predictive control; Couplings; Unmanned aerial vehicles; Robots; Optimal control; Real-time systems; Nonlinear systems
• Public URL: https://rgu-repository.worktribe.com/output/1279841