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基于扩张终端约束集的非线性双模预测控制

邹涛 李少远 丁宝苍

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.
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.
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.
Citation: 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.

基于扩张终端约束集的非线性双模预测控制

详细信息
    通讯作者:

    李少远

A Dual-mode Nonlinear Model Predictive Control with the Enlarged Terminal Constraint Sets

More Information
    Corresponding author: LI Shao-Yuan
  • 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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出版历程
  • 收稿日期:  2005-06-06
  • 修回日期:  2005-09-26
  • 刊出日期:  2006-01-20

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