双曲线输入约束下一类基于斐波那契序列的变步长预测控制算法

Variable Step Size Predictive Control Algorithm Based on Fibonacci Sequence with Hyperbolae Input Constraints

定步长预测控制在处理双曲线型输入约束时不能保证存在可行解。变步长可以保证得到可行解,但难点是步长值的确定。提出应用斐波那契序列搜索步长的算法,避免了步长搜索引入的在线求解子优化问题的复杂性,并且给出了算法的稳定性证明。

Predictive control with fixed step size can＇ t guarantee feasibility when its inputs are subjected to hyperbolae constraints. Although feasibility can be guaranteed by varying step size, it＇ s difficult to decide ac- tual step size at each sampling instant. The algorithm that utilizes Fibonacci sequence to search for admissible step size was proposed so as to avoid the complication of solving optimization sub-problem online, and to have the stability proof of this algorithm presented.