论文标题
有效地解决谐波模型预测控制公式
Efficiently solving the harmonic model predictive control formulation
论文作者
论文摘要
谐波模型预测控制（HMPC）是一种模型预测控制（MPC）公式，它比其他MPC公式显示了几个好处，尤其是在使用较小的预测范围时。但是，这些好处是以一个优化问题为代价，而这不再是典型的二次编程问题，这是由于包含了特定类别的二阶锥体约束而从大多数线性MPC公式中得出的。本文提出了一种在操作员分裂方法中有效处理这些约束的方法，从而导致了根据线性MPC的最新求解器求解HMPC的计算时间。我们展示了如何将此结果应用于乘数算法的交替方向方法，并提出了一个求解器，我们将其与文献中的其他求解器进行比较，包括其他线性MPC公式的求解器。结果表明，拟议的求解器并通过扩展为HMPC公式，适用于其在嵌入式系统中的实现。
Harmonic model predictive control (HMPC) is a model predictive control (MPC) formulation which displays several benefits over other MPC formulations, especially when using a small prediction horizon. These benefits, however, come at the expense of an optimization problem that is no longer the typical quadratic programming problem derived from most linear MPC formulations due to the inclusion of a particular class of second order cone constraints. This article presents a method for efficiently dealing with these constraints in operator splitting methods, leading to a computation time for solving HMPC in line with state of the art solvers for linear MPC. We show how to apply this result to the alternating direction method of multipliers algorithm, presenting a solver which we compare against other solvers from the literature, including solvers for other linear MPC formulations. The results show that the proposed solver, and by extension the HMPC formulation, is suitable for its implementation in embedded systems.
