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Communication dans un congrès

Novel qLPV MPC Design with Least-Squares Scheduling Prediction

Abstract : 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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Communication dans un congrès
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https://hal.univ-grenoble-alpes.fr/hal-02321396
Contributeur : Marcelo Menezes Morato <>
Soumis le : lundi 21 octobre 2019 - 10:57:34
Dernière modification le : lundi 27 juillet 2020 - 14:37:12
Archivage à long terme le : : mercredi 22 janvier 2020 - 14:48:14

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LPVS_LPVMPC.pdf
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  • HAL Id : hal-02321396, version 1

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

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