1. Set invariance in control. Automatica, 1999 2. Constrained model predictive control: Stability and optimality. Automatica, 2ooo 鲁棒性 目的: 保证递归可行性(考虑模型误差、扰动) 保证渐近稳定性(在没有扰动的情况下) 需要知道: 模型不确定性的形式 扰动的形式 不确定性模型 线性参数变化模型 多胞不确...
The Optimal Control Problem References Model Predictive Control (MPC for short) is a state-of-the-art controller that is used to control a process while satisfying a set of constraints. In this article, we will discuss what MPC is and why one might want to use it instead of simpler...
Introduction to Model Predictive Control - Imsland - 2007BORDONS C.Introductionto modelpredictivecontrol[R/ OL].http://homes.esat.kuleuven.be/~ optec/files/hdmpc- ind-ws/HD-MPC_ Workshop_Bordons.pdf,2011.E. F. Camacho, C. Bordons, "Introduction to Model Predictive Con- trol," in Model...
诸多相似之处,因此结合自己目前了解到的信息,将两者进行一定的比较。MPC(Modelpredictivecontrol,模型预测控制)和LQR( Linear–...控制器的目的是为了求最优控制解,在具体的优化求解时,均通过线性化方法将状态方程转化为线性方程进行求解,所以,可以说apollo中LQR和MPC控制器的研究对象均为线性系统。 状态方程 LQR的状...
Introduction to Model Predictive Control Lars Imsland Abstract This note gives a brief introduction to Model Predictive Control (MPC), assuming the reader has been exposed to the LQR controller, and QP optimization algorithms including KKT conditions. Basic knowledge of linear algebra is also assumed...
For an introduction on the subject, see first two books in the bibliography sections. For an explanation of the controller internal model and its estimator, seeMPC Prediction ModelsandController State Estimation, respectively. For an overview of the optimization problem, seeOptimization Problem. For ...
a distributed fast dual gradient algorithm for distributed model predictive control with coupled constraints 耦合约束分布模型预测控制的分布式快速双梯度算法 introduction 本章提出了(5.1)-(5.3)给出的多离散时间线性动力系统的加速DMPC方法。与第五章的方法一样,该方法还解决了整体MPC问题的对偶问题,并将对偶问题...
4 Introduction 1.3 Predictive control strategy 5 1.3 Predictive control strategy 1 1.3.2 Optimization A model predictive control law contains the basic components of prediction, The predictive control feedback law is computed by minimizing a predicted optimization and receding horizon implementation. A ...
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MODEL PREDICTIVE CONTROL SC4060 Ton J.J. van den Boom Delft Center for Systems and Control Delft University of Technology Email: a.j.j.vandenboom@tudelft.nl SC4060 Model Predictive Control (February-March 2011) Preliminaries - slide 1 COURSE SCHEDULE 2008-2009 Tue 01 Feb : Introduction/...