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A Gauss-Newton-Like Hessian Approximation for Economic NMPC

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Document pages: 8 pages

Abstract: Economic Model Predictive Control (EMPC) has recently become popular becauseof its ability to control constrained nonlinear systems while explicitlyoptimizing a prescribed performance criterion. Large performance gains havebeen reported for many applications and closed-loop stability has been recentlyinvestigated. However, computational performance still remains an open issueand only few contributions have proposed real-time algorithms tailored to EMPC.We perform a step towards computationally cheap algorithms for EMPC byproposing a new positive-definite Hessian approximation which does not hinderfast convergence and is suitable for being used within the real-time iteration(RTI) scheme. We provide two simulation examples to demonstrate theeffectiveness of RTI-based EMPC relying on the proposed Hessian approximation.

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