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针对跟踪问题中无状态和输入约束的非线性预测控制最优解的求取问题,引入参考输入轨迹的概念,利用Stirling插值公式,将非线性系统模型沿参考输入输出轨迹展开,取其一阶近似,处理成参数已知的线性模型.在此基础上,利用线性系统预测控制理论求解得到原系统的次优控制律.该方法不要求系统模型连续可导,且无需对线性化后的模型参数进行在线辨识,计算量小,易于实现.
In order to solve the problem of finding the optimal solution of nonlinear predictive control with stateless and input constraints in tracking problem, the concept of reference input trajectory is introduced. Stirling interpolation formula is used to develop the nonlinear system model along the reference input and output trajectories. Approximation and processing into a linear model with known parameters.Based on this, the suboptimal control law of the original system is obtained by using the linear system predictive control theory.This method does not require the system model to be continuously derivable, and it is not necessary to model the linearized model Parameters for online identification, a small amount of calculation, easy to implement.