非线性自触发MPC没有终端条件的轨迹跟踪跟踪.
Hai Zhao1, Hongjiu Yang1, Yuanqing Xia2
1The Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China.
ISA transactions
|June 17, 2025
概括
本研究介绍了非线性系统的实用模型预测控制 (MPC) 策略. 这种新的方法简化了参数,并使用自触发机制来减少轨迹跟踪的计算负载.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 非线性系统动态 非线性系统动态
背景情况:
- 轨迹跟踪对于自主系统至关重要.
- 由于终端条件,标准模型预测控制 (MPC) 可能是计算密集的.
- 非线性离散时间系统存在独特的控制挑战.
研究的目的:
- 开发一种简化且计算效率高的MPC策略,用于在非线性离散时间系统中的轨迹跟踪.
- 通过消除终端约束和处罚,提高MPC的可行性.
- 引入一个自我触发的机制,以减少计算负担.
主要方法:
- 提出了一个新的模型预测控制 (MPC) 策略,省略了终端惩罚条款和状态约束.
- 实现了一个自动触发机制,利用时间瞬间之间的成本函数差异.
- 引入了一个额外的补偿变量,以解决自动触发机制的冗余问题.
- 为优化问题提供递归可行性的数学证明.
主要成果:
- 由于要求的参数较少,建议的MPC战略显示出高可行性.
- 自动触发机制有效地降低了计算负载.
- 优化问题的递归可行性已被数学证明.
- 在移动车辆平台上的模拟和实验结果验证了该战略的有效性.
结论:
- 新的自触发MPC策略为非线性离散时间系统的轨迹跟踪提供了实用且计算效率高的解决方案.
- 删除终端条件简化了控制设计,而不会影响性能.
- 该方法通过在移动机器人上进行严格的模拟和现实世界的实验来验证.
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