Approximate explicit receding horizon control of constrained nonlinear systems

被引：165

作者：

Johansen, TA ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

AUTOMATICA | 2004年 / 40卷 / 02期

关键词：

optimal control; multi-parametric programming; piecewise linear control;

D O I：

10.1016/j.automatica.2003.09.021

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An algorithm for the construction of an explicit piecewise linear state feedback approximation to nonlinear constrained receding horizon control is given. It allows such controllers to be implemented via an efficient binary tree search, avoiding real-time optimization. This is of significant benefit in applications that requires low real-time computational complexity or low software complexity. The method has a priori guarantee of asymptotic stability with region of attraction being a close inner approximation to the stabilizable set. This is achieved by ensuring that the approximation error does not exceed the stability margin. (C) 2003 Elsevier Ltd. All rights reserved.

引用

页码：293 / 300

页数：8

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