具有可变终端代价项的非线性模型预测控制

A nonlinear model predictive control scheme with variable terminal cost term

针对离散时间非线性系统的模型预测控制问题,提出了一种具有可变自调节终端代价项的模型预测控制方案.此方案通过引入自调节因子,并对其设定不同的自调节规则,使终端代价函数项具备了可变自调节性能.证明了带有可变自调节终端代价项的模型预测控制方案可保证闭环系统的性能.为自调节因子提出了若干自调节规则,并分别分析了它们的性质.用实例证明了研究结果的有效性.

For the model predictive control problems of discrete-time nonlinear systems,we proposed an MPC scheme with a variable self-tuning terminal cost term,which made the terminal cost term has a variable self-tuning performance by inducing a self-tuning factor and setting different self-tuning laws to the self-tuning factor.In this paper,the average performance of the closed-loop system with a variable self-tuning terminal cost terra has been proved.We proposed several self-tuning laws for the self-tuning factor,and analysed their performance respectively.The validity of the algorithm was proved by several examples.