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有界扰动下约束非线性系统鲁棒经济模型预测控制

何德峰 韩平 王青松

何德峰, 韩平, 王青松. 有界扰动下约束非线性系统鲁棒经济模型预测控制. 自动化学报, 2022, 48(2): 572−581 doi: 10.16383/j.aas.c190879
引用本文: 何德峰, 韩平, 王青松. 有界扰动下约束非线性系统鲁棒经济模型预测控制. 自动化学报, 2022, 48(2): 572−581 doi: 10.16383/j.aas.c190879
He De-Feng, Han Ping, Wang Qing-Song. Robust economic MPC of constrained nonlinear systems with bounded disturbances. Acta Automatica Sinica, 2022, 48(2): 572−581 doi: 10.16383/j.aas.c190879
Citation: He De-Feng, Han Ping, Wang Qing-Song. Robust economic MPC of constrained nonlinear systems with bounded disturbances. Acta Automatica Sinica, 2022, 48(2): 572−581 doi: 10.16383/j.aas.c190879

有界扰动下约束非线性系统鲁棒经济模型预测控制

doi: 10.16383/j.aas.c190879
基金项目: 国家自然科学基金(61773345), 浙江省自然科学基金(LR17F030004)资助
详细信息
    作者简介:

    何德峰:浙江工业大学信息工程学院教授. 2008年获得中国科学技术大学自动化系博士学位. 主要研究方向为智能系统预测控制理论与应用. 本文通信作者. E-mail: hdfzj@zjut.edu.cn

    韩平:浙江工业大学信息工程学院硕士研究生. 主要研究方向为非线性系统经济模型预测控制. E-mail: hanping@zjut.edu.cn

    王青松:浙江工业大学信息工程学院硕士研究生. 主要研究方向为非线性系统经济模型预测控制. E-mail: 2111903053@zjut.edu.cn

Robust Economic MPC of Constrained Nonlinear Systems With Bounded Disturbances

Funds: Supported by National Natural Science Foundation of China (61773345) and Natural Science Foundation of Zhejiang Province (LR17F030004)
More Information
    Author Bio:

    HE De-Feng Professor at the College of Information Engineering, Zhejiang University of Technology. He received his Ph.D. degree from the Department of Automation, University of Science and Technology of China in 2008. His research interest covers predictive control theory and applications of intelligent systems. Corresponding author of this paper

    HAN Ping Master student at the College of Information Engineering, Zhejiang University of Technology. His research interest covers economic model predictive control of nonlinear systems

    WANG Qing-Song Master student at the College of Information Engineering, Zhejiang University of Technology. His research interest covers economic model predictive control of nonlinear systems

  • 摘要: 针对未知但有界扰动下约束非线性系统, 提出一种新的鲁棒经济模型预测控制(Economic model predictive control, EMPC)策略, 保证闭环系统对扰动输入具有输入到状态稳定性(Input-to-state stability, ISS). 基于微分对策原理, 分别优化经济目标函数和关于最优经济平衡点的鲁棒稳定性目标函数, 其中经济最优性与鲁棒稳定性是具有冲突的两个控制目标. 利用鲁棒稳定性目标最优值函数构造EMPC优化的隐式收缩约束, 建立鲁棒EMPC的递推可行性和闭环系统关于最优经济平衡点相对于有界扰动输入到状态稳定性结果. 最后以连续搅拌反应器为例, 对比仿真验证本文策略的有效性.
  • 图  1  鲁棒EMPC算法运行过程示意图

    Fig.  1  A schematic diagram of the robust EMPC algorithm

    图  2  持续扰动 $w(k)=0.1436\sin(k/2) $的仿真结果

    Fig.  2  Simulation results under continuous disturbance $w(k)=0.1436\sin(k/2) $

    图  3  持续扰动 $w(k)=0.1436\exp(-k/10) $的仿真结果

    Fig.  3  Simulation results under continuous disturbance $w(k)=0.1436\exp(-k/10) $

    图  4  闭环状态轨迹和控制输入曲线

    Fig.  4  Closed-loop state trajectorand control input profiles

    图  5  不同初始状态的闭环系统相轨迹

    Fig.  5  Phase trajectories of the closed-loop system from different initial states

    表  1  平均经济性能和收敛过渡时间

    Table  1  Average economic performance and transient time

    $\lambda $$w(k)= 0.1436\sin ( {k/} 2 )$$w(k)=0.1436\exp( - {{k/} }10)$
    ${J_{{\rm{ave}}} } $ ${J_{{\rm{ave}}} } $ ${ {{T} }_{ {\text{tr} } } }$
    0.1 −3.4361 −3.3953 49Ts
    0.3 −3.4464 −3.4019 54Ts
    0.5 −3.4553 −3.4083 58Ts
    0.7 −3.4623 −3.4143 65Ts
    0.9 −3.4712 −3.4194 74Ts
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-12-23
  • 录用日期:  2020-04-06
  • 网络出版日期:  2022-01-08
  • 刊出日期:  2022-02-20

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