【摘 要】
：
提出一个具有准无限预测时域的模型预测控制方案．该方案可用于输入和状态约束非线性系统的控制．用优化柔性状态约束条件代替了硬性状态约束，以避免优化问题的不可解．开环优化问题
【机 构】
：
斯图加特大学系统动力学与控制工程研究所,苏黎世工学院自动化研究所
论文部分内容阅读
提出一个具有准无限预测时域的模型预测控制方案．该方案可用于输入和状态约束非线性系统的控制．用优化柔性状态约束条件代替了硬性状态约束，以避免优化问题的不可解．开环优化问题含有附加的终端代价项和终端约束条件，这样预测时域延伸至准无限，而需在线优化获得的控制函数仅为有限时域．如果在最初时刻优化问题有解，则闭环系统具有保证稳定性．
A model predictive control scheme with quasi-infinite predictive time domain is proposed. This scheme can be used to control the input and state-constrained nonlinear systems. The optimization of the flexible state constraints instead of the rigid state constraints, in order to avoid the optimization problem of unsolvable. Open-loop optimization problems contain additional terminal cost terms and terminal constraints, which predict the time domain extends to quasi-infinite, while the online optimization control function obtained only finite time domain. If there is a solution to the optimization problem at the very beginning, the closed-loop system has guaranteed stability.
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