快速嵌入式基于管的MPC与缩放对称的ADMM用于高阶系统:用于加载运输任务的UAV应用
Richard Andrade1, Julio E Normey-Rico2, Guilherme V Raffo3
1Graduate Program in Electrical Engineering, Federal University of Minas Gerais, Belo Horizonte, Minas Gerais, Brazil.
ISA transactions
|December 12, 2024
概括
本研究介绍了一种基于管的强大的模型预测控制 (MPC) 系统,用于快速的,高阶的系统. 它使用zonotopes和ADMM算法减少了计算,使无人机等应用程序能够实时实现.
科学领域:
- 控制工程 控制工程 控制工程
- 机器人技术 机器人技术 机器人技术
- 嵌入式系统 嵌入式系统
背景情况:
- 模型预测控制 (MPC) 擅长处理约束,但在实时,高阶系统中面临着计算挑战.
- 系统的不确定性需要强大的控制配方,而基于管的MPC提供了一个可行的解决方案.
- 具有快速动态的线性参数变化 (LPV) 系统为稳健的控制带来了独特的实施障碍.
研究的目的:
- 为高级LPV系统设计基于管的MPC框架,开发一个全面的方法.
- 解决计算成本,并确保实时嵌入式系统对不确定性的稳定性.
- 在具有挑战性的应用程序上验证拟议的框架,例如倾斜旋转无人机.
主要方法:
- 利用zonotopes进行高效的可访问集的离线计算,减少实时计算负载.
- 开发新的线性矩阵不等式 (LMI) 条件,以保证名义控制和状态集.
- 实施一个基于ADMM的缩放对称的优化算法,加快和正常化,以提高融合和稳定性.
主要成果:
- 通过离线可访问集计算,显著降低了计算成本.
- 通过新的LMI条件,成功确保了名义控制和状态集的存在.
- 通过新的ADMM优化算法实现了快速融合和增强的数值稳定性.
结论:
- 提出的基于管的MPC方法对于具有快速动态的高阶LPV系统是有效的.
- 该框架促进了嵌入式系统的实时实现,通过模拟和CIL实验证实了这一点.
- 该方法已被验证用于在悬浮载荷的倾斜旋转无人机上进行轨迹跟踪.
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