Seminar Details
2007-12-11 (14.00) : "Fast implementation of MPC using Set Membership aproximation with application to power generating kites"
At Euler building
Organized by Mathematical Engineering
Speaker :
Lorenzo FAGIANO
(Politecnico di Torino, Italy)
Abstract :
Fast implementation of model predictive control is presented using Set Membership (SM) methodologies for nonlinear function estimation. A key feature of this approach is the
possibility of tuning the approximation error in order to guarantee
stability, satisfaction of state constraints and performances. This way, as the control computation
is simply reduced to the
evaluation of a static nonlinear approximating function, the computational time is
significantly reduced leading to a Fast Model
Predictive Control implementation (FMPC). Two different SM methodologies
are presented for the approximation
of the nominal MPC controller. The first method derives an optimal
approximating function which minimizes the guaranteed accuracy level. The second one gives lower guaranteed accuracy but also lower computational time. Numerical examples are given to show
the effectiveness of the presented results. Finally, application of the presented technique to the problem of control of power kites for electric energy generation is presented.