Extended model predictive control: robust controller with matching condition
Extended model predictive control: robust controller with matching condition
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扩展模型预测控制：具有匹配条件的鲁棒控制器
DOI：
10.1299/transjsme.19-00300
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Kenji Uchiyama
中科院分区：
文献类型：
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作者：
Kai Masuda;Kenji Uchiyama
提出了一种基于模型预测控制(MPC)的新型鲁棒控制器。预测控制是一种有用的控制方法，因为它能够直观地设计时间响应，并考虑状态和输入的约束。然而，在没有考虑这些不确定性的情况下，由于使用预测模型，预测控制对建模误差和干扰没有鲁棒性。为了提高系统的鲁棒性能，提出了一种基于线性矩阵不等式(LMI)或H_无穷控制理论的鲁棒模型预测控制(RMPC)方法。理论上的复杂性失去了预测控制的特点，例如控制器的直观设计。另一方面，当系统满足匹配条件时，滑模控制(SMC)理论简单，比H_无穷大控制理论和RMPC具有更强的鲁棒性。此外，由滑模控制发展而来的积分滑模控制(ISMC)可以将系统约束到参考模型，即使在建模误差和扰动的影响下，目标的响应也可以近似于理想系统的响应。值得注意的是，基于滑模控制的控制器在应用于实际系统时，应该抑制控制输入的抖振。我们提出了一种扩展的预测控制(EMPC)，它利用匹配条件对不确定性具有鲁棒性。该控制方法的特点是不仅具有较强的鲁棒性，而且控制器整定简单。数值仿真验证了所提出的控制系统的有效性，并与常规的PID、ISMC和MPC控制器进行了比较。
This paper describes a new robust controller based on Model Predictive Control (MPC). MPC is one of the useful control methods because it enables to design time response intuitively and to consider the constraint of state and input. However, MPC does not have robustness against modeling errors and disturbances due to the use of a predictive model without considering these uncertainties. Robust Model Predictive Control (RMPC) by using a Linear Matrix Inequality (LMI) or H-infinity control theory has been proposed to improve the robust performance. The theoretical complexity loses the characteristics of the MPC, such as the intuitive design of a controller. On the other hand, Sliding Mode Control (SMC), which is a simple theory, has high robustness compared to H-infinity control theory and RMPC when a system satisfies a matching condition. In addition, the Integral Sliding Mode Control (ISMC) that developed from SMC can constrain the system to the reference model and the response of the target can be made approximate to the response of the ideal system even under the influence of modeling errors and disturbances. It is noted that a controller based on SMC should restrain chattering of control input when applying the controller to a real system. We propose the extended MPC (EMPC) that utilize a matching condition to have robustness against uncertainties. The feature of the proposed control method is not only robustness but only easy tuning of the controller. The effectiveness of the proposed control system is verified by numerical simulation in comparison with the conventional controllers that are PID, ISMC, and MPC.