Optimal Exact Path-Following for Constrained Differentially Flat Systems
Optimal Exact Path-Following for Constrained Differentially Flat Systems
复制标题
约束差分平坦系统的最优精确路径跟踪
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
R. Findeisen
中科院分区：
文献类型：
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作者：
T. Faulwasser;V. Hagenmeyer;R. Findeisen
针对微分平坦系统的精确路径跟踪问题，提出了一种动态优化方法来计算最优前馈控制。除了推导小维最优控制问题之外，我们还提供了输入存在的易于检查的条件，保证在状态和输入存在约束的情况下，给定的路径是完全可遵循的。我们的方法是基于投影的前馈控制，非线性MIMO动态沿着的几何路径到线性单输入系统的Brunovsky规范形式。所提出的结果表明，如何允许的轨迹的计算设定点的变化可以简化依赖于稳态一致的路径。以货车de Vusse反应器为例，讨论了设定点的变化。
We propose a dynamic optimization approach to calculate optimal feedforward controls for exact path-following problems of differentially flat systems. Besides the derivation of a small dimensional optimal control problem, we provide easily checkable conditions on the existence of inputs guaranteeing that a given path is exactly followable in the presence of constraints on states and inputs. Our approach is based on the projection of the feedforward controlled, nonlinear MIMO dynamics along a geometric path onto a linear single-input system in Brunovsky normal form. The presented results indicate how the computation of admissible trajectories for set-point changes can be simplified by relying on steady state consistent paths. The set-point change of a Van de Vusse reactor is considered as an example.