| 引用本文: | 彭丹华,李向宁,平续斌.椭圆型Tube 的输出反馈鲁棒MPC终端约束集合设计[J].控制理论与应用,2025,42(7):1303~1312.[点击复制] |
| PENG Dan-hua,LI Xiang-ning,PING Xu-bin.Design on terminal constraint sets for ellipsoidal tube-based output feedback robust MPC[J].Control Theory & Applications,2025,42(7):1303~1312.[点击复制] |
|
| 椭圆型Tube 的输出反馈鲁棒MPC终端约束集合设计 |
| Design on terminal constraint sets for ellipsoidal tube-based output feedback robust MPC |
| 摘要点击 3186 全文点击 277 投稿时间：2024-01-09 修订日期：2025-03-03 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.40020 |
| 2025,42(7):1303-1312 |
| 中文关键词 模型预测控制 输出反馈 鲁棒控制 终端约束集合 |
| 英文关键词 model predictive control output feedback robust control terminal constraint set |
| 基金项目 国家自然科学基金项目(61403279), 陕西省自然科学基金面上项目(2020JM–190)资助. |
|
| 中文摘要 |
| 针对包含有界干扰和噪声的约束线性时不变系统, 本文研究椭圆型管道(Tube)的输出反馈鲁棒模型预测控
制(RMPC )中终端约束集合设计方法. 针对离线终端约束集合, 通过构建闭环标称系统不变集合, 以及施加终端约
束集合体积上界约束, 设计了不同大小的终端约束集合. 针对在线终端约束集合, 分别考虑实时优化和放缩终端约
束集合; 在线输出反馈RMPC优化中, 实时估计误差和控制误差约束在时变鲁棒不变集合内, 然后通过滚动优化求
解标称控制输入序列驱使标称系统状态向不同类型的终端约束集合内收敛. 此外, 比较分析了不同类型终端约束
集合对在线输出反馈RMPC优化计算量、可行性以及控制性能的影响. |
| 英文摘要 |
| For constrained linear time-invariant systems with bounded disturbances and noises, this paper investigates
the design methods on terminal constraint sets for ellipsoidal tube-based output feedback robust model predictive control
(RMPC). For the off-line terminal constraint sets, by constructing the invariant set for the closed-loop nominal system, and
imposing the constraints of upper bounds on terminal constraint sets, different sizes of terminal constraint sets are designed.
For the on-line terminal constraint sets, real-time optimized and scaled terminal constraint sets are respectively considered.
In the on-line output feedback RMPC optimization, the real-time estimation errors and control errors are constrained within
time-varying robust positively invariant sets, and the nominal control input sequence is receding horizon optimized to steer
the nominal system state to converge into different types of terminal constraint sets. Furthermore, the impacts of different
types of terminal constraint sets on the computational burden, feasibility, and the control performance of the on-line output
feedback RMPC optimizations are compared and analyzed. |
|
|
|
|
|