An integrated model predictive control scheme with disturbance preview
An integrated model predictive control scheme with disturbance preview
复制标题
具有扰动预览的集成模型预测控制方案
DOI：
10.1002/rnc.6271
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发表时间：
2022
影响因子：
3.9
通讯作者：
Fang X
中科院分区：
文献类型：
--
作者：
Fang X
针对非线性系统，提出了一种带干扰预见信息的综合模型预测控制框架。假设扰动在预报视界内可预见，视界外未知。首先，考虑了一个由反馈和前馈组成的综合终端控制律。在此基础上，给出了相应的终端约束和终端成本的计算方法。然后利用这些终端元素提出了一种新的预测控制公式，并证明了在所提出的设计下，使用输入到状态稳定工具可以保证稳定性和递推可行性。提出的预测控制方案的另一个显著特点是，将扰动和地平线上的参考信息结合在一起进行在线优化，而不是分开处理扰动抑制和轨迹跟踪，使得在有利于控制任务的情况下充分利用可预测扰动。数值算例表明，与已有的具有扰动预瞄的预测控制算法相比，该集成预测控制算法具有更大的稳定区域和更好的控制性能。
This article proposes an integrated model predictive control (MPC) framework with disturbance preview information for nonlinear systems. It is assumed that the disturbance can be previewed within the prediction horizon but unknown outside the horizon. First an integrated terminal control law consisting of both feedback and feedforward is considered. Based on that, a procedure is presented to calculate the associated terminal constraints and terminal cost. A new MPC formulation is then presented with these terminal elements and it is shown that stability and recursive feasibility can be guaranteed under the proposed design using the input‐to‐state stability tool. Another distinctive feature of the proposed MPC scheme is that the disturbance and the reference information in the horizon is integrated in online optimization, rather than treating disturbance rejection and trajectory following separately, which makes it possible to make full use of the predictable disturbance if it is beneficial to the control task. Numerical examples show that this integrated MPC yields a larger stability region and better performance under prescribed disturbance in comparison with the existing MPC algorithms with disturbance preview.