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Erschienen in:
2006 | OriginalPaper | Buchkapitel
Nonlinear Model Predictive Control and Sum of Squares Techniques
verfasst von : T. Raff, C. Ebenbauer, R. Findeisen, F. Allgöwer
Erschienen in: Fast Motions in Biomechanics and Robotics
Verlag: Springer Berlin Heidelberg
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The paper considers the use of sum of squares techniques in nonlinear model predictive control. To be more precise, sum of squares techniques are used to solve at each sampling instant a finite horizon optimal control problem which arises in nonlinear model predictive control for discrete time polynomial systems. The combination of nonlinear model predictive control and sum of squares techniques is motivated by the successful application of semidefinite programming in linear model predictive control. The advantages and disadvantages of applying sum of squares techniques to nonlinear model predictive control are illustrated on a small example.