Stabilizing non‐linear model predictive control using linear parameter‐varying embeddings and tubes
Stabilizing non‐linear model predictive control using linear parameter‐varying embeddings and tubes
复制标题
使用线性参数变化嵌入和管稳定非线性模型预测控制
DOI：
--
复制
发表时间：
2021
影响因子：
2.6
通讯作者：
M. Lazar
中科院分区：
文献类型：
--
作者：
J. Hanema;R. Tóth;M. Lazar
本文提出了一种非线性系统的模型预测控制(MPC)方法，其中非线性动态被嵌入到线性变参数(LPV)表示中。因此，非线性MPC问题被LPV MPC问题取代，而不使用线性化。与一般的非线性预测控制方法相比，这种方法的优点是可以方便地构造终端集和费用，并且只需在线求解单个凸规划。证明递归可行性和稳定性的关键思想是将非线性系统的状态演化限制在一个时变的状态约束集序列上。由于在LPV嵌入中，调度和状态变量之间存在关系，这些状态约束被用来构造对应的未来调度管。与非时变状态约束相比，得到了对未来调度轨迹更严格的约束。在这种设置下计算调度管需要对约束集序列应用非线性函数。例如，可以通过区间分析找到该基于非线性投影的调度管的外部近似。数值算例证明了该方法的计算特性
This paper proposes a model predictive control (MPC) approach for non-linear systems where the non-linear dynamics are embedded inside a linear parameter-varying (LPV) representation. The non-linear MPC problem is therefore replaced by an LPV MPC problem, without using linearization. Compared to general non-linear MPC, advantages of this approach are that it allows for the tractable construction of a terminal set and cost, and that only a single convex program must be solved online. The key idea that enables proving recursive feasibility and stability, is to restrict the state evolution of the non-linear system to a time-varying sequence of state constraint sets. Because in LPV embeddings, there exists a relationship between the scheduling and state variables, these state constraints are used to construct a corresponding future scheduling tube. Compared to non-time-varying state constraints, tighter bounds on the future scheduling trajectories are obtained. Computing a scheduling tube in this setting requires applying a non-linear function to the sequence of constraint sets. Outer approximations of this non-linear projection-based scheduling tube can be found, e.g., via interval analysis. The computational properties of the approach are demonstrated on numerical examples
影响因子：
3.9
作者：
Abbas, Hossam S.;Toth, Roland;Petreczky, Mihaly;Meskin, Nader;Mohammadpour Velni, Javad;Koelewijn, Patrick J. W.
通讯作者：
Koelewijn, Patrick J. W.