MPC for tracking of constrained nonlinear systems
MPC for tracking of constrained nonlinear systems
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DOI：
10.1109/cdc.2009.5400618
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发表时间：
2009-12
期刊：
影响因子：
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通讯作者：
A. Ferramosca;D. Limón;I. Alvarado;T. Alamo;E. Camacho
中科院分区：
文献类型：
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作者：
A. Ferramosca;D. Limón;I. Alvarado;T. Alamo;E. Camacho
本文使用模型预测控制 (MPC) 定律处理约束非线性系统的跟踪问题。 MPC 提供了适合将约束线性和非线性系统调节到给定目标稳态的控制律。然而，当目标工作点改变时，控制器的可行性可能会丧失并且控制器无法跟踪参考值。在本文中，提出了一种用于跟踪不断变化的常量参考的新型 MPC。该控制器的主要特征是：（i）将人工稳态视为决策变量，（ii）最小化惩罚人工稳态误差的成本，（iii）在成本函数中添加一个附加项，惩罚人工稳态和目标稳态之间的偏差（所谓的偏移成本函数），以及（iv）考虑用于跟踪的不变集作为扩展终端约束。研究了所提出的控制器的稳定参数的计算并提出了一些方法。该控制器的特性已在约束 CSTR 仿真模型上进行了测试。
This paper deals with the tracking problem for constrained nonlinear systems using a model predictive control (MPC) law. MPC provides a control law suitable for regulating constrained linear and nonlinear systems to a given target steady state. However, when the target operating point changes, the feasibility of the controller may be lost and the controller fails to track the reference. In this paper, a novel MPC for tracking changing constant references is presented. The main characteristics of this controller are: (i) considering an artificial steady state as a decision variable, (ii) minimizing a cost that penalizes the error with the artificial steady state, (iii) adding to the cost function an additional term that penalizes the deviation between the artificial steady state and the target steady state (the so-called offset cost function) and (iv) considering an invariant set for tracking as extended terminal constraint. The calculation of the stabilizing parameters of the proposed controller is studied and some methods are proposed. The properties of this controller has been tested on a constrained CSTR simulation model.