Linear Mismatched Model Based Offset-Free MPC for Nonlinear Constrained Systems With Both Stochastic and Deterministic Disturbances and Its Application to CSTR
Linear Mismatched Model Based Offset-Free MPC for Nonlinear Constrained Systems With Both Stochastic and Deterministic Disturbances and Its Application to CSTR
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基于线性失配模型的随机和确定性干扰非线性约束系统无偏移 MPC 及其在 CSTR 中的应用
DOI：
10.1109/access.2018.2876721
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发表时间：
2018
期刊：
影响因子：
3.9
通讯作者：
Xie Lei
中科院分区：
文献类型：
--
作者：
Xie Lantao;Su Hongye;Lu Shan;Xie Lei
针对同时具有有界随机和确定性扰动的非线性系统（也适用于非匹配线性系统），提出了一种基于线性非匹配模型的无偏置模型预测控制方法。通过分别处理目标函数（使用干扰观测器模型）和约束条件（使用失配预测模型），实现了对分段常值参考的期望无偏跟踪和满足约束条件。结合状态和干扰仿射反馈控制法已被纳入，以实现最小的保守性。设计良好的跟踪不变集用于收敛。提出了一个迭代计算过程来寻找递归可行集，从而保证了递归可行性。最后的最优控制问题已转化为半定规划问题，可以有效地解决现有的求解器。所提出的方法已被应用到一个非线性的连续搅拌釜式反应器系统，并进行了性能比较，现有的几种方法。
This paper presents a linear mismatched model-based offset-free model-predictive control approach for nonlinear systems (also suits for mismatched linear systems) with both bounded stochastic and deterministic disturbances. By treating the objective function (using disturbance observer model) and the constraints (using mismatched predictive model) individually, offset-free tracking for piece-wise constant references in an expectation manner and constraints contentment has been achieved. A combined state and disturbance-affine feedback control law has been incorporated to achieve least conservativeness. Well-designed invariant set for tracking is used for convergence. An iterative computation procedure has been proposed to find the recursively feasible set, which ensures recursive feasibility. The final optimal control problem has been converted to a semidefinite programming problem that can be efficiently solved by existed solvers. The proposed method has been applied to a nonlinear continuously stirred tank reactor system, and the performance has been compared to several existing approaches.
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