A Full Resource Predictive Control Approach to Control Systems Subject to Computational Constraint
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摘要: 针对具有时变有限且不可预知计算资源的控制系统，提出了一种充分利用可用计算资源的预测控制策略和相应的控制器设计方法.该策略在控制系统可用计算资源充足时计算多步前向预测控制量，进而使用合适预测控制量在控制器因缺少计算资源无法运行时闭合系统，达到了在不要求额外计算资源前提下提升控制系统性能的效果.利用改进的模型预测控制方法设计了相应的控制器，并分别使用纯数值和MATLAB/LabVIEW联合仿真算例对所提出的方法进行了验证.Abstract: A computational resource aware predictive control strategy as well as the controller design method is proposed for control systems subject to limited, time-varying and unknown computational resources. The strategy calculates multi-step forward control predictions when the allocated computational resources allow so, which are then used to close the system when the available computational resources are too few to run the controller, thus enabling the improvement of the control performance at no cost of additional computational resources requirement. The controller is realized by a modified model predictive method, and both numerical simulation and MATLAB/LabVIEW co-simulation validate the effectiveness of the proposed approach.
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Key words:
- Computational constraint /
- full resource /
- predictive control /
- co-simulation
1) 本文责任编委 曹向辉 -
图 1 具有时变不可预知计算资源的控制系统
Fig. 1 Control systems with time-varying and unpredictable computational resources
图 2 面向计算受限控制系统的全资源预测控制策略
Fig. 2 The full resource predictive control strategy for control systems subject to computational constraints
图 4 MATLAB仿真的$R(k)$, $N_k$和$\chi_k$随时间的典型演化曲线
Fig. 4 Typical evolution curves of $R(k)$, $N_k$ and $\chi_k$ in MATLAB simulation
图 5 MATLAB仿真的系统响应和控制量曲线
Fig. 5 The system responses and control signals in MATLAB simulation
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