A barrier function based continuous-time algorithm for linear model predictive control
A barrier function based continuous-time algorithm for linear model predictive control
复制标题
基于障碍函数的线性模型预测控制连续时间算法
DOI：
10.23919/ecc.2013.6669710
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
C. Ebenbauer
中科院分区：
文献类型：
--
作者：
Christian Feller;C. Ebenbauer
在本文中，我们提出了一种新的线性模型预测控制（MPC）方案，该方案依赖于一种基于连续时间障碍函数的算法，该算法可以渐近跟踪时变开环最优控制问题的解。特别是，控制输入是连续时间动力系统的采样输出，在线实现时不需要迭代优化算法。此外，我们提出了一种基于梯度重中心对数势垒函数的稳定MPC的新方法，该方法允许扩大所使用的终端集。
In this paper, we present a novel linear model predictive control (MPC) scheme that relies on a continuous-time, barrier function based algorithm which asymptotically tracks the solution of a time-varying open-loop optimal control problem. In particular, the control input is obtained as the sampled output of a continuous-time dynamical system and no iterative optimization algorithm is needed in the on-line implementation. In addition, we present a new approach towards stabilizing MPC based on gradient recentered logarithmic barrier functions that allows enlargement of the employed terminal set.