Guaranteed feasible control allocation using model predictive control

作     者：Mehdi NADERI Ali KHAKI SEDIGH Tor Arne JOHANSEN 

作者机构：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 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2019年第17卷第3期

页      面：252-264页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 

基　　金：supported by the Research Council of Norway through the Centres of Excellence funding scheme 

主　　题：Control allocation feasible region actuator constraints model predictive control 

摘      要：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 alig ned 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.