Technical communique: Improving off-line approach to robust MPC based-on nominal performance cost
Technical communique: Improving off-line approach to robust MPC based-on nominal performance cost
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DOI：
10.1016/j.automatica.2006.07.022
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发表时间：
2007
期刊：
影响因子：
6.4
通讯作者：
B. Ding;Y. Xi;M. Cychowski;T. O'Mahony
中科院分区：
文献类型：
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作者：
B. Ding;Y. Xi;M. Cychowski;T. O'Mahony
针对具有多面体描述的系统，给出了两种可供选择的离线综合方法，用于鲁棒模型预测控制。在每种方法中，离线构造对应于嵌套渐近不变椭球序列的显式控制律序列。为了适应更广泛的系统类别，选择名义性能成本来替代现有技术中的“最坏情况”成本。在较大椭球体的控制律设计中，第二种方法进一步融合了与所有较小椭球体相关的控制律知识，以进一步提高可行性和最优性。最后给出了仿真算例，说明了该方法的有效性。
This paper gives two alternative off-line synthesis approaches to robust model predictive control (RMPC) for systems with polytopic description. In each approach, a sequence of explicit control laws that correspond to a sequence of nested asymptotically invariant ellipsoids are constructed off-line. In order to accommodate a wider class of systems, nominal performance cost is chosen to substitute the “worst-case” one in an existing technique. In the design of control law for a larger ellipsoid, the second approach further incorporates the knowledge of control laws associated with all smaller ellipsoids, so as to further improve feasibility and optimality. The effectiveness of the alternative approaches is illustrated by a simulation example.