剥离饱和区域的高效显式模型预测控制算法

An Efficient Explicit Model Predictive Control Algorithm Based on Separating Saturated Regions

在复杂快速多维度约束系统中,针对在显式模型预测控制离线计算时,计算量大、处理缓慢、内存占用过高等问题,提出了一种基于剥离饱和区域的高效显式模型预测控制算法。结合多面体、分段仿射等相关概念和波利亚定理,利用显式控制器反馈饱和特性,去除饱和区域,保留非饱和临界区域,从而达到减少状态分区数量和计算量的目的。根据解耦后四旋翼飞行器的两个状态空间子系统简化模型,实现了姿态角在扰动后的快速准确调节。数值仿真和半实物仿真实验均验证了该算法在四旋翼飞行器姿态控制上的有效性和优越性。

Considering that the off-line computation of explicit model predictive control for complex fast multi-dimensional constrained systems has the shortages of large amount of computation slow processing speed and high memory usage we proposed an efficient explicit model predictive control algorithm based on separating saturated region.By combining polyhedron piecewise affine related concepts and Polya theorem and using the feedback saturation characteristic of explicit controllers the saturated region was removed and the unsaturated critical region was retained so as to reduce the number of state partitions and computational complexity.Then based on the state space simplified model of two subsystems of the decoupled quad-rotor aircraft we realized rapid and accurate adjustment of attitude angles.The effectiveness and superiority of the proposed algorithm in attitude control of the quad-rotor aircraft have been verified by numerical simulation and hardware-in-the-loop simulation experiments.