基于目标预见时间的最优预见控制算法

Algorithm Forms of Optimal Preview Control Base of Preview Time

针对最优预见控制中预见时间的实时性问题,提出了一种基于哈密顿-雅可比函数生成理论的最优预见控制算法。其核心是利用目标信号,已知未来的目标信号和系统跟踪误差信号所构成的面积通过哈密顿函数来构造最优预见控制的性能指标,从而直接引入系数可变的预见时间,以解决最优预见控制系统中预见时间与最优控制算法之间关系问题。

To improve the real-time character of an optimal preview control, this paper proposes an algorithm of optimal preview control via Hamilton-Jacobi theory. Its core is to use the area structured by goal signal, advanced knowledge goal signal and system follow error generating the performance criterion of optimal preview control system via Hamiltonian function, and it directly introduces the variable coefficient preview time and solve the problem between the preview time and the preview control system.