Robust receding horizon control of constrained nonlinear systems
Robust receding horizon control of constrained nonlinear systems
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DOI：
10.1109/9.262032
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发表时间：
1993-11
期刊：
影响因子：
--
通讯作者：
H. Michalska;D. Mayne
中科院分区：
文献类型：
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作者：
H. Michalska;D. Mayne
我们提出了一种构建可靠的双模式的方法，该方法可以为具有状态和控制约束和模型误差的一类宽类非线性系统使用。控制器是双模式。在原点的附近，控制动作是由设计为线性化系统设计的线性反馈控制器生成的。在该社区以外，采用了退化的视野控制。非线性，连续的时间系统的现有后退视野控制器，可以保证稳定其应用的非线性系统，在每一个瞬间都需要确切的解决方案，即具有终端平等约束的最佳控制问题。这些要求在本文介绍的双模式后退的地平线控制器中大大放松。稳定是通过施加终端不平等而不是平等的约束来实现的。仅需要近似最小化。允许使用可变的时间范围。鲁棒性是通过使用保守的状态和稳定性约束集实现的，从而允许误差范围。所得的双模式控制器所需的在线计算要比现有的非线性，约束系统的后退视野控制器要少得多。 >
We present a method for the construction of a robust dual-mode, receding horizon controller which can be employed for a wide class of nonlinear systems with state and control constraints and model error. The controller is dual-mode. In a neighborhood of the origin, the control action is generated by a linear feedback controller designed for the linearized system. Outside this neighborhood, receding horizon control is employed. Existing receding horizon controllers for nonlinear, continuous time systems, which are guaranteed to stabilize the nonlinear system to which they are applied, require the exact solution, at every instant, of an optimal control problem with terminal equality constraints. These requirements are considerably relaxed in the dual-mode receding horizon controller presented in this paper. Stability is achieved by imposing a terminal inequality, rather than an equality, constraint. Only approximate minimization is required. A variable time horizon is permitted. Robustness is achieved by employing conservative state and stability constraint sets, thereby permitting a margin of error. The resultant dual-mode controller requires considerably less online computation than existing receding horizon controllers for nonlinear, constrained systems. >