论文标题
一类非线性MPC问题的凸式重新汇总
Convex reformulations for a special class of nonlinear MPC problems
论文作者
论文摘要
我们展示了如何通过根据有限数量的凸子问题来重新设计基础非凸的最佳控制问题来获得针对特殊类型的输入式离散时间系统的NMPC问题的解决方案。重新制定通过精确的（输入状态）线性化促进，该线性化可为处理的系统类别提供有益的特性。我们表征了所得凸子问题的可能类型，并通过三个数字示例说明了我们的方法。
We show how the solution to NMPC problems for a special type of input-affine discrete-time systems can be obtained by reformulating the underlying non-convex optimal control problem in terms of a finite number of convex subproblems. The reformulation is facilitated by exact (input-state) linearization, which is shown to provide beneficial properties for the treated class of systems. We characterize possible types of the resulting convex subproblems and illustrate our approach with three numerical examples.
