随机间歇模型预测控制的系统稳定性与安全性  

System stability and safety for stochastic intermittent model predictive control

作　　者：尚昊 王维峰[1] 梅俊 SHANG Hao;WANG Weifeng;MEI Jun(College of Mathematics and Statistics,South-Central Minzu University,Wuhan 430074,China)

机构地区：[1]中南民族大学数学与统计学学院,武汉430074

出　　处：《中南民族大学学报（自然科学版）》2024年第6期859-864,共6页Journal of South-Central Minzu University(Natural Science Edition)

基　　金：湖北省自然科学基金资助项目(2023AFC006)。

摘　　要：针对随机非线性仿射系统,采用间歇事件触发模型预测控制的方法研究其稳定性与安全性.利用无约束的控制李雅普诺夫函数和控制障碍函数相结合的方法,构建了控制李雅普诺夫-障碍函数.通过设定控制器的开启和关闭条件,构造间歇事件触发控制器,使其可以同时兼顾系统稳定性与安全性.结果表明:在模型预测控制中采用间歇机制能够有效提升系统性能.以轮式机器人回收系统为例,验证了间歇事件触发模型预测控制理论的有效性.The stability and safety of stochastic nonlinear affine systems are studied by using intermittent event-triggered model predictive control.A combined approach using an unconstrained control Lyapunov function and a control barrier function is employed to construct the control Lyapunov-barrier function.By setting the opening and closing conditions of the controller,an intermittent event-triggered controller is constructed,which can simultaneously consider the stability and safety of the system.The results show that the intermittent mechanism in model predictive control can effectively improve system performance.The effectiveness of the proposedintermittent event-triggered model predictive control theory is demonstrated through a case study of a wheeled robot retrieval system.

关 键 词：间歇事件触发控制 模型预测控制 随机非线性系统 控制李雅普诺夫-障碍函数 安全性 

分 类 号：O231.3[理学—运筹学与控制论]