A Dual-mode Nonlinear Model Predictive Control with the Enlarged Terminal Constraint Sets

查看全文 作　　者：ZOU [1]Tao;LI Shao-[1]Yuao;DING Bao-[2]Cang

机构地区：[1]Institute of Automation, Shanghai Jiaotong University, Shanghai 200240;[2]School of Electricity and Automation, Hebei University of Technology, Tianjin 300130

出　　处：《自动化学报》索引2006年第32卷第1期,共7页

基　　金：Supported by National Natural Science Foundation of P. R. China (60474051, 60534020)Development Program of Shanghai Science and Technology Department (04DZ11008)the Program for New Century Excellent Talents in Universities of P. R. China (NCET) 摘　　要：Aiming at a class of nonlinear systems with multiple equilibrium points, we present a dual-mode model predictive control algorithm with extended terminal constraint set combined with control invariant set and gain schedule. Local LQR control laws and the corresponding maximum control invariant sets can be designed for finite equilibrium points. It is guaranteed that control invariant sets are overlapped each other. The union of the control invariant sets is treated as the terminal constraint set of predictive control. The feasibility and stability of the novel dual-mode model predictive control are investigated with both variable and fixed horizon. Because of the introduction of extended terminal constrained set, the feasibility of optimization can be guaranteed with short prediction horizon. In this way, the size of the optimization problem is reduced so it is computationally efficient. Finally, a simulation example illustrating the algorithm is presented. 关键词：不变量集非线性模型预先控制非线性约束系统增益表

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A Dual-mode Nonlinear Model Predictive Control with the Enlarged Terminal Constraint Sets

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