约束非线性系统保安全和稳定的双模经济模型预测控制  

Dual-mode economic model predictive control with guaranteed safety and stability of constrained nonlinear systems

作　　者：何德峰[1] 徐山 余世明[1] He Defeng;Xu Shan;Yu Shiming(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2021年第3期232-239,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(61773345);浙江省自然科学基金(LR17F030004)资助项目。

摘　　要：考虑输入仿射非线性约束系统的安全与经济优化控制问题,提出一种约束非线性系统高效安全经济模型预测控制(SEMPC)策略。首先引入控制李雅普诺夫障碍函数(CLBF)概念,设计系统运行安全约束和参数化非线性局部控制律。为平衡SEMPC的在线计算量和经济优化性能,构造约束非线性系统的参数化双模模型预测控制(MPC)控制器,其中,控制器自由参数在系统状态进入终端域后在线优化确定。进一步,应用双模控制原理和控制李雅普诺夫函数性质,证明SEMPC策略的递推可行性和闭环系统的渐近稳定性。最后,通过对一连续搅拌釜反应器的安全、经济和稳定控制的仿真实验,验证了本文策略的有效性。This paper considers the safety and economic optimization control problems of input-affine constrained nonlinear systems and an efficient safe economic model predictive control(SEMPC) strategy is proposed for constrained nonlinear systems.Firstly,the concept of control Lyapunov-barrier function(CLBF) is introduced to design the safe operation constraints and parameterized nonlinear local control laws of the system.In order to make a trade-off between the online computational burden and economic optimization performance of SEMPC,the parameterized dual-mode MPC controller is constructed for the constrained nonlinear system.The free parameters of the dual-mode MPC are calculated online when the states of the system enter the terminal domain.Moreover,recursive feasibility of the SEMPC and asymptotic stability of the closed-loop system are established by the dual-mode control principle and the properties of control Lyapunov function(CLF).Finally,a simulation experiment of safety,economic and stabilizing control of a continuous stirred tank reactor(CSTR) is used to illustrate the effectiveness of the proposed strategy.

关 键 词：经济模型预测控制(EMPC) 约束非线性系统 安全控制 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]