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Communication Dans Un Congrès Année : 2019

Novel qLPV MPC Design with Least-Squares Scheduling Prediction


The design of a Model Predictive Control (MPC) algorithm for quasi Linear Parameter Varying (qLPV) systems is developed herein. An online Least-Squares procedure that computes the future evolution of the qLPV scheduling parameters is at the core of the proposed method, which enables the replacement of a complex nonlinear optimization by a (much simpler) Quadratic Programming Problem (QP) one. The method also uses contractive terminal set constraints and a Lyapunov-associated terminal cost to the MPC QP, so that the domain of attraction of this controller is enlarged and feasibility is guaranteed. This paper ends with a successful simulation of this technique applied to the control of vehicular suspensions.
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hal-02321396 , version 1 (21-10-2019)



Marcelo Menezes Morato, Julio E Normey-Rico, Olivier Sename. Novel qLPV MPC Design with Least-Squares Scheduling Prediction. LPVS 2019 - 3rd IFAC Workshop on Linear Parameter Varying Systems, Nov 2019, Eindhoven, Netherlands. ⟨10.1016/j.ifacol.2019.12.366⟩. ⟨hal-02321396⟩
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