Exponentially Weighted Laguerre Function based Model Predictive Controller for a Twin Rotor MIMO System
Authors:
- 17 December 2020
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1-6
Abstract
Model Predictive Control (MPC) is a viable control scheme for constrained nonlinear MIMO systems but the high computational complexity and numerical sensitivity issues associated with long prediction horizons hamper the real-time implementation of this control technique. To alleviate the computational burden and problems associated with numerical ill-conditioning, an Exponentially Weighted Laguerre Function based Model Predictive Controller (EWLMPC) is proposed in this paper. EWLMPC deploys orthonormal Laguerre functions to parametrize the control input trajectory which helps in alleviating the real-time computational load. The inclusion of exponential data weight facilitates the use of large prediction horizons without jeopardizing the numerical stability of the algorithm. The effectiveness of the controller is established through experimental studies on a benchmark MIMO system, the Twin Rotor Multi-Input Multi-Output System (TRMS).Keywords
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