论文标题
基于管的成本稳健模型模型的线性系统预测控制受参数不确定性的影响
Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties
论文作者
论文摘要
我们提出了一个基于管子的保证成本模型预测控制器，该控制器考虑了受到乘法结构化规范不确定性的约束线性系统的同型公式。它提供了与一般的Min-Max模型预测控制的上限。所提出的管的不变性属性具有任何任意缩放。它产生的二阶锥度编程问题，其计算在计算上的昂贵，而不是标准的半准编程问题。我们还提供了一个数字示例，其中提出的方法，开环保证的成本模型预测控制器以及线性差异包含系统的同型管模型预测控制器。
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the general min-max model predictive control. The invariance property of the proposed tube holds for any arbitrary scaling. It yields a second-order cone programming problem which is less computationally expensive than standard semi-definite programming problems. We also present a numerical example with a comparative study among the proposed approach, an open-loop guaranteed cost model predictive controller, and a homothetic tube model predictive controller for linear difference inclusion systems.
