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Séminaire du département Automatique du 10/01/2013 à 11h00


Topics on Fast NMPC : The control updating period issue.

Intervenant : M. Alamir , Gipsa-Lab

Lieu : Salle des séminaires du D. AUTO


Résumé : In this talk, the need for special formulations when implementing Nonlinear Model Predictive Control to systems showing fast dynamic is recalled. In particular, the now widely admitted idea of distributing the optimization of the cost function over the system life-time is discussed. More precisely, this means that only a finite number of iterations of some descent method are applied before the control sequence is updated leading hopefully to recover the ideal standard NMPC asymptotically. Nevertheless, the way this finite number of iterations is determined is still to be investigated. The talk then focuses on a proposition for a rational adaptation of this number using cheap computations that are based on the on-line algorithm behaviour. While the proposed framework is general, some specific investigations are proposed when the underlying descent method is the fast gradient that is currently under intense investigation by the fast NMPC community. An illustrative example is given in order to assess the efficiency of the proposed framework. It is shown in particular that regardless the initial choice of the control updating period, the scheme converges to a somehow optimal behaviour.

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