| 摘要: |
|
| 关键词: |
| DOI：https://doi.org/10.1007/s11768-019-7231-9 |
|
| 基金项目:This work was in part supported by the Research Council of Norway through the Centres of Excellence funding scheme (No. 223254-NTNUAMOS). |
|
| Guaranteed Feasible Control Allocation using Model Predictive Control |
| Mehdi Naderi,Ali KHAKI SEDIGH,Tor Arne JOHANSEN |
| (Center of Excellence in Industrial Control, Faculty of Electrical Engineering, K. N. Toosi University of Technology, Seyyed Khandan Bridge, Shariati Ave., Tehran, Iran;Center for Autonomous Marine Operation and Systems, Department of Engineering Cybernetics, Norwegian University of Science and Technology, N7491, Trondheim, Norway) |
| Abstract: |
| This paper proposes a guaranteed feasible control allocation method based on the model predictive control. Feasible region
is considered to guarantee the determination of the desired virtual control signal using the pseudo inverse methodology and is
described as a set of constraints of an MPC problem. With linear models and the given constraints, feasible region defines a convex
polyhedral in the virtual control space. In order to reduce the computational time, the polyhedral can be approximated by a few
axis aligned hypercubes. Employing the MPC with rectangular constraints substantially reduces the computational complexity. In
two dimensions, the feasible region can be approximated by a few rectangles of the maximum area using numerical geometry
techniques which are considered as the constraints of the MPC problem. Also, an active MPC is defined as the controller to
minimize the cost function in the control horizon. Finally, several simulation examples are employed to illustrate the effectiveness
of the proposed techniques. |
| Key words: Control allocation, feasible region, actuator constraints, model predictive control |
