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We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamics evolving on Rn are preserved and we establish a design procedure for achieving similar properties. We also demonstrate that for discrete-time dynamics on manifolds with Euler characteristic not equal to 1, there do not...
The paper considers formulations of constrained model predictive control (MPC) problems for systems with dynamics defined on smooth manifolds. Generalizations of conventional nonlinear MPC stabilization techniques based on the terminal set and terminal penalty approaches are presented based on recent work by the authors. The significance of the results includes the possibility of systematically generating...
In this paper, predictive control of a spark ignition engine equipped with an electronic throttle and a variable cam timing actuator is considered. The objective is to adjust the throttle angle and the engine cam timing in order to reduce the exhaust gas emissions while maintaining fast and monotonic transient engine torque response. To this end, using a mean-value nonlinear model for the air intake...
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