论文标题
预览的模型预测控制：递归可行性和稳定性
Model Predictive Control with Preview: Recursive Feasibility and Stability
论文作者
论文摘要
本文提出了一种稳定模型预测控制（MPC）方案，并提供了非线性系统干扰信息。所提出的MPC算法不仅能够通过必要地使用干扰预览信息来拒绝干扰，而且还可以利用干扰，如果它对控制任务有益。通过考虑到在线优化时，预测范围中的任务（例如参考轨迹）和干扰预览可以实现这一点。建立条件以确保在干扰下的递归可行性和稳定性。首先，地平线内部的干扰与状态增加了，以形成一个新的复合系统，然后对阶段成本函数进行相应的修改。借助输入到国家稳定性理论，构建了终端成本和终端约束，并将其添加到MPC算法中，并预览了预览，以确保其递归的可行性和稳定性在预先结合的干扰下。数值模拟结果证明了所提出的MPC算法的有效性。
This paper proposes a stabilising model predictive control (MPC) scheme with preview information of disturbance for nonlinear systems. The proposed MPC algorithm is able to not only reject disturbance by making use of disturbance preview information as necessary, but also take advantage of the disturbance if it is good for a control task. This is realised by taking into account both the task (e.g. reference trajectory) and disturbance preview in the prediction horizon when performing online optimisation. Conditions are established to ensure recursive feasibility and stability under the disturbance. First the disturbance within the horizon is augmented with the state to form a new composite system and then the stage cost function is modified accordingly. With the help of input-to-state stability theory, a terminal cost and a terminal constraint are constructed and added to the MPC algorithm with preview to guarantee its recursive feasibility and stability under a pre-bounded disturbance. Numerical simulation results demonstrate the effectiveness of the proposed MPC algorithm.
