Stabilizing model predictive control: On the enlargement of the terminal set
Stabilizing model predictive control: On the enlargement of the terminal set
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DOI：
10.1002/rnc.3219
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发表时间：
2015-10
影响因子：
3.9
通讯作者：
F. D. Brunner;M. Lazar;F. Allgöwer
中科院分区：
文献类型：
--
作者：
F. D. Brunner;M. Lazar;F. Allgöwer
众所周知，一个大的终端集导致一个大的区域，其中模型预测控制问题是可行的，而不需要一个长的预测范围。本文提出了一种新的扩充终端集的方法。与现有方法不同的是，该方法利用轨迹的凸船体作为构造的基础。这些轨迹可以是终止于包含原点的不变集的系统的任何可行轨迹，并且不限于仅由平衡点组成。所得到的终端控制器是取决于状态的优化问题的解，因此通常是非线性函数。版权所有© 2014约翰威利父子有限公司.
It is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function. Copyright © 2014 John Wiley & Sons, Ltd.