An LMI Optimization Approach for Enlarging the Terminal Region of MPC for Nonlinear Systems
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摘要: 对于具有约束的非线性系统, 提出了一种模型预测控制 (Model predictive control, MPC) 的终端域优化方法. 基于线性矩阵不等式(Linear matrix inequality, LMI) 优化和非线性系统的范数有界线性微分包含 (Linear differential inclusion, LDI), 给出了求解非线性 MPC 终端代价函数和局部稳定控制器的一种方法, 在此基础上可方便地得到非线性模型预测控制终端域. 一个具体的数值算例验证了算法的有效性.Abstract: The paper presents a method for solving the terminal region of model predictive control (MPC) for nonlinear systems with constraints. Based on linear matrix inequality (LMI) optimization and norm-bounded linear differential inclusion (LDI) of nonlinear system, we develop an approach to offline choose the terminal cost and fictitious local stabilizing control law so as to gain the terminal region. A numerical example is given to illustrate the effectiveness of the proposed results.
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