论文标题
通过管MPC的不受欢迎系统的推出计划和控制
Rollout scheduling and control for disturbed systems via tube MPC: extended version
论文作者
论文摘要
推出控件是一种基于MPC的控制方法，在该方法中，定期激活控制器以安排传感器或执行器数据的传输。在其中，预先签名的流量规范是对预定传输的限制，确保了基础通信网络以可接受的速率触发它们。在本文中，我们通过在存在状态和输入约束的情况下考虑对受控植物的有界干扰来扩展推出控制的理论。我们使用来自Tube MPC的方法，其中名义（未扰动）系统（不受干扰的）系统（用作预测模型）之间的误差，然后将真实系统保存在强大的控制不变集中。这种方法需要满足\ emph {最大}封闭环间间隔，这是保证在推出控制中并不简单地获得的保证。我们的主要贡献是引入一种新型的管MPC方案，该方案适用于推出控制，该方案包含对预测的传输时间表的附加约束。我们表明，凭借此时间表约束，跨段间隔在闭环中有限。我们还建立了这种新型MPC方案的递归可行性，并显示了系统的收敛性。
Rollout control is an MPC-based control method, in which a controller is periodically activated to schedule the transmission of sensor or actuator data. Therein, a preassigned traffic specification acts as a constraint on the scheduled transmissions, ensuring that they are triggered at an admissible rate for the underlying communication network. In this paper, we extend the theory of rollout control by considering bounded disturbances on the controlled plant in the presence of state and input constraints. We use methods from tube MPC, where the error between the nominal (undisturbed) system, used as a prediction model, and the real system is kept in a robust control invariant set. This approach requires satisfaction of a \emph{maximum} inter-transmission interval in closed loop, a guarantee that is not straightforward to obtain in rollout control. Our main contribution is to introduce a novel tube MPC scheme adapted for rollout control, which contains an additional constraint on the predicted transmission schedule. We show that by virtue of this schedule constraint, the inter-transmission interval is bounded in closed loop. We also establish recursive feasibility of this novel MPC scheme and show convergence of the system.
