Discrete-time Contraction Constrained Nonlinear Model Predictive Control
using Graph-based Geodesic Computation
Abstract
Modern chemical processes need to be operated around different operating
conditions to optimize plant economy, in response to dynamic supply
chains. As such, the process control system needs to handle a wide range
of operating conditions whilst optimizing system performance and
ensuring stability during transitions. This article presents a
reference-flexible nonlinear model predictive control approach using
contraction based constraints. Firstly, a contraction condition that
ensures convergence to any feasible state trajectories or setpoints is
constructed. This condition is then imposed as a constraint on the
optimization problem for model predictive control with a general
(typically economic) cost function, utilizing Riemannian weighted graphs
and shortest path techniques. The result is a reference flexible and
fast optimal controller that can trade-off between the rate of target
trajectory convergence and economic benefit (away from the desired
process objective). The proposed approach is illustrated by a simulation
study on a CSTR control problem.