Observer design in receding-horizon predictive control
Observer design in receding-horizon predictive control
复制标题
后退预测控制中的观察者设计
DOI：
10.1080/00207179508921897
复制
发表时间：
1995
影响因子：
2.1
通讯作者：
D. Clarke
中科院分区：
文献类型：
--
作者：
T. Yoon;D. Clarke
本文研究了一类以GPC为代表的预测控制方法的鲁棒实现。这种控制器是两自由度的形式，在前向和反馈路径中都有动态。预测控制器的“调谐旋钮”决定了特征多项式PC，对于给定的PC，反馈路径中的观测器或预滤波多项式T决定了闭环的鲁棒性。以往关于T的选择的直观指南在其有效性上被证明是有限的。对于开环稳定对象，给出了一个简单的准则，该准则允许指定反馈动力学以增强鲁棒性。然后选择T多项式来满足这个准则。此外，通过T进行稳健设计与使用所谓的q参数化的H∞最优控制方案有关。尽管它很简单，但新提出的T设计方法被认为具有与H∞方法相当的鲁棒性。
This paper considers the robust implementation of a class of predictive control methods represented by GPC. Such controllers are in two-degrees-of-freedom form where there are dynamics in both the forward and the feedback paths. The ‘tuning knobs’ of predictive controllers determine the characteristic polynomial PC , and for a given PC the observer or prefiltering polynomial T in the feedback path determines the robustness of the closed loop. Previous intuitive guidelines on the selection of T are shown to be limited in their effectiveness. For an open-loop stable plant, a simple criterion is provided which allows the feedback dynamics to be specified so as to enhance robustness. The T polynomial is then chosen to satisfy this criterion. In addition, robust design through T is related to an H∞ -optimal control scheme using the so-called Q-parametrization. Despite its simplicity, the new proposed approach to the design of T is seen to result in robustness comparable with that obtained from the H∞ method.