Niels van Duijkeren
KU Leuven - Department of Mechanical Engineering
Tuesday, June 13, 2017, 11:00
Room 01-012, Georges-Köhler-Allee 102, Freiburg 79110, Germany
In this talk we present a predictive approach for stabilizing a target manifold in the state-space of nonlinear dynamical systems while optimizing for economic performance on this manifold. The control design is based on transverse normal form descriptions of the dynamics. A stabilizing transveral NMPC acts as an outer control-loop to stabilize a neighborhood of the manifold. A tangential inner loop NMPC refines the remaining degrees of freedom in the benefit of economic performance without compromising manifold stability. The two-stage approach is especially interesting for its application on embedded systems when the computationally attractive stabilizing NMPC formulation is augmented with an "approximate" economic refinement step. We discuss the stability and performance properties of the resulting control scheme, and show its efficacy in an illustrative example.