Imprecise Computation Based Real-time Fault Tolerant Implementation for Model Predictive Control  

作　　者：周平方 谢剑英 

机构地区：[1]Department of Automation,Shanghai Jiaotong University, Shanghai 200030

出　　处：《Journal of Donghua University(English Edition)》2006年第1期148-150,共3页东华大学学报（英文版）

摘　　要：Model predictive control (MPC) could not be deployed in real-time control systems for its computation time is not well defined. A real-time fault tolerant implementation algorithm based on imprecise computation is proposed for MPC, according to the solving process of quadratic programming (QP) problem. In this algorithm, system stability is guaranteed even when computation resource is not enough to finish optimization completely. By this kind of graceful degradation, the behavior of real-time control systems is still predictable and determinate. The algorithm is demonstrated by experiments on servomotor, and the simulation results show its effectiveness.Model predictive control （MPC） could not be deployed in real-time control systems for its computation time is not well defined. A real-time fault tolerant implementation algorithm based on imprecise computation is proposed for MPC, according to the solving process of quadratic programming （QP） problem. In this algorithm, system stability is guaranteed even when computation resource is not enough to finish optimization completely. By this kind of graceful degradation, the behavior of real-time control systems is still predictable and determinate. The algorithm is demonstrated by experiments on servomotor, and the simulation results show its effectiveness.

关 键 词：model predictive control fault tolerance imprecise computation real-Time control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]