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This paper presents a computationally attractive nonlinear model predictive control approach for the class of continuous-time input affine polynomial systems. The control law is obtained via the repeated solution of an efficient to solve convex optimization problem subject to sum of squares (SOS) constraints. Closed-loop stability and satisfaction of input and state constraints are guaranteed by the feasibility of the SOS conditions at initial time. Further, the initial solution supplies - as a byproduct - a rational feedback law guaranteeing constraint satisfaction for all times. The applicability and effectiveness of the proposed controller is shown by means of simulation of an example system.
Decision and Control (CDC), 2010 49th IEEE Conference on
Date of Conference: 15-17 Dec. 2010