Computation delay compensation for real time implementation of robust model predictive control
Computation delay compensation for real time implementation of robust model predictive control
复制标题
DOI：
10.1109/indin.2012.6301174
复制
发表时间：
2012-07
期刊：
影响因子：
--
通讯作者：
Yang Su;K. Tan;Tong-heng Lee
中科院分区：
文献类型：
--
作者：
Yang Su;K. Tan;Tong-heng Lee
模型预测控制（MPC）的实现需要在线求解一个优化问题。计算时间通常不可忽略，特别是对于非线性MPC（NMPC），在反馈回路中引入延迟。此外，它阻碍了快速采样率设置的控制器快速反应的不确定性。针对具有外部干扰的线性/非线性系统，提出了一种双时标控制方案。预补偿器以快速采样率工作以抑制不确定性，而外部MPC控制器以较慢的速率更新开环输入序列。在MPC的设计中，明确地考虑了计算延迟并进行了补偿。四个鲁棒MPC算法的线性/非线性系统的文献中被定制的控制方案。严格分析了递归的可行性和稳定性。仿真算例验证了所提方法的有效性。
The implementation of Model Predictive Control (MPC) requires to solve an optimization problem online. The computation time, often not negligible especially for Nonlinear MPC (NMPC), introduces a delay in the feedback loop. Moreover, it impedes fast sampling rate setting for the controller to react to uncertainties quickly. In this paper, a dual time scale control scheme is proposed for linear/nonlinear systems with external disturbances. A pre-compensator works at fast sampling rate to suppress uncertainty, while the outer MPC controller updates the open loop input sequence at a slower rate. The computation delay is explicitly considered and compensated in the MPC design. Four Robust MPC algorithms for linear/nonlinear systems in the literature are tailored for the proposed control scheme. The recursive feasibility and stability are rigorously analyzed. Simulation examples validate the proposed approaches.