动态不确定环境下广义控制问题的预测控制

Predictive Control of General Control Problems under Dynamic Uncertain Environment

通过对预测控制方法论思想的剖析 ,把预测控制的基本原理从控制问题推广到一般的广义控制问题求解 ,并以机器人实时路径规划和FMS实时加工调度为例说明了其应用 ,为动态不确定环境下基于优化的各类问题求解提供了新的思路 .

Through analyzing the methodology of predictive control,the basic principles of predictive control are generalized to general control problems.As application examples,the robot real time trajectory planning and FMS (flexible manufacturing system) real time scheduling are illustrated. It provides a new way for various optimization based problem solving under dynamic environment.