| 摘要: |
|
| 关键词: |
| DOI： |
| Received:June 23, 2014Revised:July 11, 2014 |
| 基金项目: |
|
| Introducing robustness in model predictive control with multiple modelsand switching |
| S. Prabhu,K. George |
| (Department of Telecommunication Engineering, PES Institute of Technology;1.PES Centre for Intelligent Systems, Bangalore 560085, India; 2.Department of Telecommunication Engineering, PES Institute of Technology, Bangalore 560085, India) |
| Abstract: |
| Model predictive control is model-based. Therefore, the procedure is inherently not robust to modelling uncertainties.
Further, a crucial design parameter is the prediction horizon. Only offline procedures to estimate an upper bound of the optimal
value of this parameter are available. These procedures are computationally intensive andmodel-based. Besides, a single choice of
this horizon is perhaps not the best option at all time instants. This is especially true when the control objective is to track desired
trajectories. In this paper,we resolve the issue by a time-varying horizon achieved by switching betweenmultiplemodel-predictive
controllers. The stability of the overall system is discussed. In addition, an introduction of multiple models to handle modelling
uncertainties makes the overall system robust. The improvement in performance is demonstrated through several examples. |
| Key words: Receding horizon control Time-varying horizon Multiple models Switching Tracking Robustness |
