제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제11권9호
  • /
  • Pages.755-760
  • /
  • 2005
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

연속형 RHC에 대한 개선된 구현 알고리즘

Improved Implementation Algorithm for Continuous-time RHC

  • 김태신 (인하대학교 전자전기공학부) ;
  • 김창유 (인하대학교 전자전기공학부) ;
  • 이영삼 (인하대학교 전자전기공학부)
  • 발행 : 2005.09.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper proposes an improved implementation algorithm for the continuous-time receding horizon control (RHC). The proposed algorithm has a feature that it has better control performance than the existing algorithm. Main idea of the proposed algorithm is that we can approximate the original RHC problem better by assuming the predicted input trajectory on the prediction horizon has a continuous form, which is constructed from linear interpolation of finite number of vectors. This, in turn, leads to improved control performance. We derive a predictor such that it takes linear interpolation into account and proposes the method by which we can express the cost exactly. Through simulation study fur an inverted pendulum, we illustrate that the proposed algorithm has the better control performance than the existing one.

키워드

참고문헌

  1. J. Richalet, A. Rault, J. L. Testud, and J. Papon, 'Model predictive heuristic contro: application to industrial process,' Automatica, vol. 14, pp. 413-420, 1978 https://doi.org/10.1016/0005-1098(78)90001-8
  2. D. W. Clarke and C. Mohtadi, 'Properties of generalized predictive control,' Automatica, vol. 25, pp. 859-875, 1989 https://doi.org/10.1016/0005-1098(89)90053-8
  3. R. Soeterboek, Predictive control: A unified approach, Prentice Hall, New York, 2002
  4. S. Boyd, L. E. Chaoui, E. Feron, and V. Balakrishnan, Linear matrix inequalities in system and control theory, SIAM, Philadelphia, 1994
  5. M. V. Kothare, V. Balakrishnan, and M. Marari, 'Robust constrained model predictive control using linear matrix inequalities,' Automatica, vol. 32, pp. 1361-1379, 1996 https://doi.org/10.1016/0005-1098(96)00063-5
  6. J. W. Lee, W. H. Kwon, and J. H. Choi, 'On the stability of constrained receding horizon control with finite terminal weighting matrix,' Automatica, vol. 34, no. 12, pp. 1607-1612, 1998 https://doi.org/10.1016/S0005-1098(98)80015-0
  7. H. Michalska and D. Q. Mayne, 'Robust receding horizon control of constrained nonlinear systems,' IEEE Trans. on Automatica Control, vol.38, no. 11, pp. 1623-1633, 1993 https://doi.org/10.1109/9.262032
  8. H. Chen and F. Allgower, 'A quasiinfinite horizon nonlinear model predictive control scheme with guaranteed stability,' Automatica, vol. 14, pp.1205-1217, 1998 https://doi.org/10.1016/S0005-1098(98)00073-9
  9. K. B. Ki, T. W. Yoon, and W. H. Kwon, 'Receding horizon guidance laws for constrained missiles with autopilot lags,' Control Engineering Practice, vol. 9, no. 10, pp. 1107-1115, 2001 https://doi.org/10.1016/S0967-0661(01)00084-3
  10. S. C. Chapra and R. P. Canale, Numerical methods for engineers, McGraw Hill, 2002