Embedding Constrained Model Predictive Control in a Continuous-Time Dynamic Feedback
Embedding Constrained Model Predictive Control in a Continuous-Time Dynamic Feedback
复制标题
DOI：
10.1109/tac.2018.2867359
复制
发表时间：
2017-09
影响因子：
6.8
通讯作者：
M. Nicotra;Dominic Liao-McPherson;I. Kolmanovsky
中科院分区：
文献类型：
--
作者：
M. Nicotra;Dominic Liao-McPherson;I. Kolmanovsky
本文介绍了一种连续时间约束控制策略，它模仿了传统的模型预测控制方案，使用动态反馈的行为。该方法是基于这样的思想，即最优控制问题的解决方案可以嵌入在内部状态的动态控制律并行运行的系统。使用输入到状态的稳定性参数，它表明，如果控制器动态足够快的植物动态，两个系统之间的互连是渐近稳定的。此外，它示出，通过增加所提出的计划与一个附加的单元称为一个明确的参考总督，它是可能的，以保证递归的可行性和限制残留的最优控制问题，无论在所需的设定点的任何变化。具有航空航天应用的数值例子证明了所提出的计划的有效性。
This paper introduces a continuous-time constrained control strategy, which mimics the behavior of a traditional model predictive control scheme using dynamic feedback. The approach is based on the idea that the solution of the optimal control problem can be embedded in the internal states of a dynamic control law running in parallel to the system. Using input-to-state stability arguments, it is shown that if the controller dynamics are sufficiently fast with respect to the plant dynamics, the interconnection between the two systems is asymptotically stable. Additionally, it is shown that, by augmenting the proposed scheme with an add-on unit known as an explicit reference governor, it is possible to guarantee recursive feasibility and limit the residual of the optimal control problem, regardless of any changes in the desired set point. Numerical examples featuring aerospace applications demonstrate the effectiveness of the proposed scheme.