Direct Nonlinear Model Predictive Control and Predictive Control with Feedback Linearization. A comparison of the approaches

Abstract

Nonlinear Model Predictive Control can be approached in direct way, when in every step minimization of quadratic function with nonlinear prediction model is used. On the other hand, feedback linearization can provide an exact linear prediction model, that can be used for the quadratic objective function. In this paper both strategies are used and simulated with model of unmanned bicycle robot. Simulation results show the advantages and disadvantages of the two approaches.