含间隙系统的约束时间最优预测控制

为了解决含间隙机械系统最优控制的计算复杂度问题，设计了基于分段仿射(PWA)模型的约束时间最优预测控制器。为了降低在线控制的计算复杂度，利用动态规划方法在模型的状态和参考跟踪速度的范围内提前计算出了离线的控制律。在跟踪参考速度的实验中，约束时间最优预测控制器具有较好的跟踪控制性能，与约束有限时间最优控制器相比，计算时间降低了十几倍，因此，适合于小采样时间系统的实时跟踪控制。

Constrained Time-Optimal Predictive Control for a Class of Systems with Backlash

A constrained time-optimal predictive controller based on the piecewise affine (PWA) model is designed for solving the computation complexity of optimal control problem for mechanical system with backlash. For reducing computation burden of online implementation, the control law is computed offline for the range of states and references tracking speed by dynamic programming. In the experiments of tracking the reference speed, it is demonstrated that the constrained time-optimal predictive controller has better tracking control performance and reduces the computation time about ten times when compared with the constrained finite time optimal controller, therefore, the proposed approach and controller are suitable for real-time tracking control for systems with small sampling time.