Avoidance of Poorly Observable Trajectories: A Predictive Control Perspective
Avoidance of Poorly Observable Trajectories: A Predictive Control Perspective
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避免难以观察的轨迹：预测控制的角度
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
F. Allgöwer
中科院分区：
文献类型：
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作者：
C. Böhm;R. Findeisen;F. Allgöwer
非线性系统沿沿着特定的状态和输出轨迹或在状态空间的某些区域中是很差或不可观测的。沿着这种轨迹或在这种区域中沿着操作系统可能导致由观测器提供的差的状态估计。如果用于状态反馈控制或监测目的，则应避免这种轨迹。在本文中，我们概述了两种可能的方法，以避免弱可观测轨迹的框架内的非线性预测控制。第一种方法是基于在成本函数中使用一个术语，该术语惩罚弱可观察轨迹，从而导致避免弱或不可观察的操作区域。在第二种方法中，观测器误差动态直接考虑在预测。大的状态估计误差导致成本泛函中的大的惩罚，并且因此被避免。这些方法通过考虑示例系统来举例说明。
Nonlinear systems can be poorly or non-observable along specific state and output trajectories or in certain regions of the state space. Operating the system along such trajectories or in such regions can lead to poor state estimates being provided by an observer. Such trajectories should be avoided if used for state-feedback control or monitoring purposes. In this paper, we outline two possible approaches to avoid weakly observable trajectories in the frame of nonlinear predictive control. The first approach is based on the use of a term in the cost functional that penalizes weakly observable trajectories and thus leads to avoidance of weakly or non-observable regions of operation. In the second approach, the observer error dynamics are directly considered in the prediction. Large state estimation errors lead to a large penalization in the cost functional and are thus avoided. The approaches are exemplified by considering an example system.