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Model Predictive Control

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Model Predictive Control

Uploaded by

coppernadeen
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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MPC Robotic system

MIMO- Multiple Input Multiple Output


MPC is a feedback control algorithm that uses a model to make predictions about
future outputs of a process.
APPLICATIONS:
Started from 1980s
Recap

● Model Predictive Control (MPC) is an advanced feedback control approach that uses a

model to project how a system will behave in the future.

● MPC is especially suited for systems with defined constraints, which set boundaries on

state values or control actions.

● The main objective of MPC is to minimize the cost function that strikes a balance between

precise tracking of target outputs and the efficient use of control resources.
The optimizer in MPC is an algorithm or
2. How MPC works? - Fortune computational tool that calculates the
Telling control actions that will minimize an
objective function over a specified time
horizon, while respecting system
constraints.
3. MPC Design Parameters
Applying Brake
4. Linear and Nonlinear MPC

Linear MPC
Adaptive MPC

Gain- Scheduled
MPC
Nonlinear MPC
Difference between Horizons

Aspect Prediction Horizon Control Horizon Receding Horizon

Time Longer look-ahead period Shorter optimization window Shifts prediction/control horizons
frame forward

Purpose To predict future states and To optimize immediate control To adapt MPC actions based on new
plan actions actions data

Usage Guides long-term planning Determines actual control actions to Repeats predictions/optimizations
implement dynamically

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