论文标题
漏斗MPC具有任意相对程度的非线性系统的可行性限制
Funnel MPC with feasibility constraints for nonlinear systems with arbitrary relative degree
论文作者
论文摘要
我们通过最近引入的漏斗MPC技术研究了具有已知相对程度和稳定内部动力学的非线性系统的跟踪控制。目的是在规定的性能漏斗中实现跟踪误差的演变。我们提出了漏斗MPC的新型阶段成本，将较早的设计扩展到任意相对程度的情况，并表明控制目标以及初始和递归可行性总是可以实现的 - 而无需任何终端条件或足够长的预测范围。我们仅在最佳控制问题中施加额外的可行性约束。
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achieve the evolution of the tracking error within a prescribed performance funnel. We propose a novel stage cost for Funnel MPC, extending earlier designs to the case of arbitrary relative degree, and show that the control objective as well as initial and recursive feasibility are always achieved - without requiring any terminal conditions or a sufficiently long prediction horizon. We only impose an additional feasibility constraint in the optimal control problem.
