title: Iterated non-linear model predictive control based on tubes and contractive constraints.
abstract: This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle.
authors: Research Institute for Signals, Systems and Computational Intelligence (sinc(i)), National Scientific and Technical Research Council (CONICET), Ciudad Universitaria UNL, 4° piso FICH, (S3000) Santa Fe, Argentina. Electronic address: mmurillo@sinc.unl.edu.ar.
authors: M
authors: M
authors: Murillo
authors: Research Institute for Signals, Systems and Computational Intelligence (sinc(i)), National Scientific and Technical Research Council (CONICET), Ciudad Universitaria UNL, 4° piso FICH, (S3000) Santa Fe, Argentina. Electronic address: gsanchez@sinc.unl.edu.ar.
authors: G
authors: G
authors: Sánchez
authors: Research Institute for Signals, Systems and Computational Intelligence (sinc(i)), National Scientific and Technical Research Council (CONICET), Ciudad Universitaria UNL, 4° piso FICH, (S3000) Santa Fe, Argentina. Electronic address: lgiovanini@sinc.unl.edu.ar.
authors: L
authors: L
authors: Giovanini
keywords: Contractive constraint; Iterative process; Non-linear model predictive control; Robust model predictive control