This presentation begins with a quick introduction to the basic concepts of optimal control and model predictive control (MPC). We will derive Pontryagin’s maximum principle. The only prerequisite is familiarity with Lagrange multipliers. To solve optimality conditions in real time, the continuation GMRES method for nonlinear MPC will be introduced. This method has been implemented in a Maple application by Cybernet, Japan, available in the Application Center of Maplesoft’s website. We will review this worksheet, which includes automatic code generation for NMPC controllers. The example problem in this worksheet is to control the position and orientation of a hovercraft. You can easily change the definition of the system in the worksheet and generate a MPC controller for your application.

Location:
Room: 12.163
Bldg: EV Building
1515 St. Catherine West
Montreal, Quebec
H3G 2W1