论文标题
限制基于Pontryagin的非线性模型预测控制的障碍函数方法
A barrier function approach to constrained Pontryagin-based Nonlinear Model Predictive Control
论文作者
论文摘要
提出了一种基于庞特拉金的方法来解决一类受约束的非线性模型预测控制问题，该方法采用了障碍函数的方法来处理状态约束。与文献中现有的作品不同，所提出的方法能够应对非线性输入和状态约束，而无需对优化算法进行任何显着修改。通过将预测状态跟踪误差的L-2标准作为Lyapunov函数，对闭环系统进行了稳定分析。通过在Lotka-Volterra Prey/Predator系统上的数值模拟测试和确认理论结果。
A Pontryagin-based approach to solve a class of constrained Nonlinear Model Predictive Control problems is proposed which employs the method of barrier functions for dealing with the state constraints. Unlike the existing works in literature the proposed method is able to cope with nonlinear input and state constraints without any significant modification of the optimization algorithm. A stability analysis of the closed-loop system is carried out by using the L-2 norm of the predicted state tracking error as a Lyapunov function. Theoretical results are tested and confirmed by numerical simulations on the Lotka-Volterra prey/predator system.
