Novel qLPV MPC Design with Least-Squares Scheduling Prediction ?

摘要

The design of a Model Predictive Control(MPC)algorithm forquasiLinear Parameter Varying(qLPV)systems is developed herein. An online Least-Squares procedure that computes the future evolution of theqLPVscheduling parameters is at the core of the proposed method, which enables the replacement of a complex nonlinear optimization by a (much simpler) Quadratic Programming Problem(QP)one. The method also uses contractive terminal set constraints and a Lyapunov-associated terminal cost to theMPC QP,so that the domain of attraction of this controller is enlarged and feasibility is guaranteed. This paper ends with a successful simulation of this technique applied to the control of vehicular suspensions.