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非线性预测控制终端约束集的优化

于树友 冯阳阳 KimJung-Su 陈虹

于树友, 冯阳阳, KimJung-Su, 陈虹. 非线性预测控制终端约束集的优化. 自动化学报, 2021, x(x): 1−8 doi: 10.16383/j.aas.c200911
引用本文: 于树友, 冯阳阳, KimJung-Su, 陈虹. 非线性预测控制终端约束集的优化. 自动化学报, 2021, x(x): 1−8 doi: 10.16383/j.aas.c200911
Yu Shu-You, Feng Yang-Yang, Jung-Su Kim, CHEN Hong. Terminal set of nonlinear model predictive control. Acta Automatica Sinica, 2021, x(x): 1−8 doi: 10.16383/j.aas.c200911
Citation: Yu Shu-You, Feng Yang-Yang, Jung-Su Kim, CHEN Hong. Terminal set of nonlinear model predictive control. Acta Automatica Sinica, 2021, x(x): 1−8 doi: 10.16383/j.aas.c200911

非线性预测控制终端约束集的优化

doi: 10.16383/j.aas.c200911
基金项目: 国家自然科学基金(U1964202), 工业物联网与网络化控制教育部重点实验室开放基 金(2019FF01), 江苏省新能源汽车动力系统重点实验室开放课题(JKLNEVPS201901)资助
详细信息
    作者简介:

    于树友:吉林大学控制科学与工程系教授. 2011年在德国斯图加特 大学获工学博士学位. 主要研究方向为预测控制、鲁棒控制以及预测控 制与鲁棒控制在机电系统中的应用等研究. 本文通信作者. E-mail: shuyou@jlu.edu.cn

    冯阳阳:吉林大学控制科学与工程系博士研究生. 主要研究方向为预测控制、分布式预测控制以及车辆队列控制. E-mail: yyfeng19@mails.jlu.edu.cn

    KimJung-Su:韩国首尔国立科技大学电子与信息工程系教授, 主要研究方向为模型预测控制、鲁棒控制以及多智能体系统. E-mail: jungsu@seoultech.ac.kr

    陈虹:同济大学特聘教授、吉林大学唐敖庆讲座教授. 1997 年获得德国斯图加特大学工学博士学位. 主要研究方向为预测控制, 鲁棒控制, 非线性控制, 汽车控制. E-mail: chenhong2019@tongji.edu.cn

Terminal Set of Nonlinear Model Predictive Control

Funds: Supported by National Natural Science Foundation of China (U1964202), the Foundation of Key Laboratory of Industrial Internet of Things and Networked Control (2019FF01), the New Energy Vehicle Power System Key Laboratory in Jiangsu Province (JKLNEVPS201901)
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    Author Bio:

    YU Shu-You Professor at the department of control science and engineering,Jilin University.He received his Ph. D.degree from the University of Stuttgart, Germany in 2011. His main research interests include model predictive control, robust control, and its applications in mechatronic systems

    FENG Yang-Yang Ph.D. candidate at the department of control science and engineering,Jilin University. His main research interests include model predictive control, distributed model predictive control, and control of vehicle platoons

    Jung-Su Kim Professor at the department of electronic and information engineering, Seoul National University of science and technology. His main research interests include model predictive control, robust control, and multi-agent systems

    Chen Hong Professor at Tongji University, China and Tangaoqing Joint professor at Jilin University, China. She received her Ph. D.degree from the University of Stuttgart, Germany in 1997. Her research interest covers model predictive control, nonlinear control, optimal and robust control,and automotive control

  • 摘要: 为了保证预测控制的稳定性, 经典的策略是在预测控制的优化问题中加入终端约束集和终端惩罚函数并保证终端约束集是一个在终端控制律作用下的正不变集, 终端惩罚函数是受控系统的局部控制Lyapunov函数. 本文提供了一种求解非线性系统终端约束集、终端控制律和终端惩罚函数的新策略. 通过在优化问题中引入新的变量来降低求解终端约束条件的保守性, 并且可以从理论上保证求解得到的终端约束集更大. 通常情况下, 较大的终端约束集将允许选取的预测时域较小, 因而可以降低预测控制的在线计算负担. 从形式上看, 新的变量的引入使得终端约束集和终端惩罚项实现了某种程度的解耦, 也即终端约束集不再是终端惩罚函数的水平截集. 最后通过仿真算例验证了所提策略的有效性.
  • 图  1  终端约束集

    Fig.  1  Terminal constraint set

    图  2  系统的动态响应: x1

    Fig.  2  Dynamic response of the system: x1

    图  3  系统的动态响应: x2

    Fig.  3  Dynamic response of the system: x2

    图  4  系统的动态响应: u

    Fig.  4  Dynamic response of the system: u

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出版历程
  • 收稿日期:  2020-11-02
  • 录用日期:  2021-04-02
  • 网络出版日期:  2021-05-25

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