| 基于扩张终端约束集的非线性双模预测控制 |
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| 引用本文： | 邹涛, 李少远, 丁宝苍. 基于扩张终端约束集的非线性双模预测控制. 自动化学报, 2006, 32(1): 21-27. |
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| 作者姓名： | 邹涛 李少远 丁宝苍 |
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| 作者单位： | 1.Institute of Automation, Shanghai Jiaotong University, Shanghai 200240 |
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| 基金项目： | Supported by National Natural Science Foundation of P. R. China （60474051, 60534020） and Development Program of Shanghai Science and Technology Department （04DZ11008）, and the Program for New Century Excellent Talents in Universities of P. R. China （NCET） |
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| 摘 要： | Aiming at a class of nonlinear systems with multiple equilibrium points, we present a dual-mode model predictive control algorithm with extended terminal constraint set combined with control invariant set and gain schedule. Local LQR control laws and the corresponding maximum control invariant sets can be designed for finite equilibrium points. It is guaranteed that control invariant sets are overlapped each other. The union of the control invariant sets is treated as the terminal constraint set of predictive control. The feasibility and stability of the novel dual-mode model predictive control are investigated with both variable and fixed horizon. Because of the introduction of extended terminal constrained set, the feasibility of optimization can be guaranteed with short prediction horizon. In this way, the size of the optimization problem is reduced so it is computationally efficient. Finally, a simulation example illustrating the algorithm is presented.
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| 关 键 词： | Invariant set nonlinear model predictive control constrained nonlinear systems gain schedule |
| 收稿时间： | 2005-06-06 |
| 修稿时间： | 2005-09-26 |
A Dual-mode Nonlinear Model Predictive Control with the Enlarged Terminal Constraint Sets |
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| ZOU Tao, LI Shao-Yuan, DING Bao-Cang. A Dual-mode Nonlinear Model Predictive Control with the Enlarged Terminal Constraint Sets. ACTA AUTOMATICA SINICA, 2006, 32(1): 21-27. |
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| Authors: | ZOU Tao LI Shao-Yuan DING Bao-Cang |
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| Affiliation: | 1. Institute of Automation, Shanghai Jiaotong University, Shanghai 200240 |
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| Abstract: | Aiming at a class of nonlinear systems with multiple equilibrium points, we present a dual-mode model predictive control algorithm with extended terminal constraint set combined with control invariant set and gain schedule. Local LQR control laws and the corresponding maximum control invariant sets can be designed for finite equilibrium points. It is guaranteed that control invariant sets are overlapped each other. The union of the control invariant sets is treated as the terminal constraint set of predictive control. The feasibility and stability of the novel dual-mode model predictive control arc investigated with both variable and fixed horizon. Because of the introduction of extended terminal constrained set, the feasibility of optimization can be guaranteed with short prediction horizon. In this way, the size of the optimization problem is reduced so it is computationally efficient. Finally, a simulation example illustrating the algorithm is presented. |
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| Keywords: | Invariant set nonlinear model predictive control constrained nonlinear systems gain schedule |
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