基于信息融合最优估计的非线性离散系统预测控制

Predictive Control Based on Information Fusion Optimal Estimation for Nonlinear Discrete System

针对非线性离散系统的二次型最优预测控制问题,提出了一种基于信息融合最优估计的迭代预测控制算法.通过融合二次型性能指标函数中包含的未来参考轨迹和控制能量的软约束信息,以及系统状态方程和输出方程的硬约束信息,获得协状态序列和控制序列的最优估计.通过二自由度机器人操作手的转移控制仿真,表明了该控制算法具有良好的稳定性和鲁棒性.

For the quadratic optimal predictive control problem of the nonlinear discrete system,an iterative predictive control algorithm based on nonlinear information fusion optimal estimation is presented in this paper.By fusing the soft constraints information of the future reference trajectory and the control energy in the quadratic performance index function,and the hard constraints information supplied by the system state equation and the output equation,the optimal estimations of the co-state sequence and the control variable sequence are obtained.Simulation results of the shift control of a two-degree of freedom manipulator indicate the good stability and robustness of the proposed control algorithm.