论文标题
通过加权总和方法的多目标严格消失
Multiobjective strict dissipativity via a weighted sum approach
论文作者
论文摘要
我们考虑具有多个竞争成本功能的非线性模型预测控制(MPC)。这导致了多目标最佳控制问题(MO OCP)的制定。由于用于直接解决多目标问题的MPC算法的设计相当复杂,尤其是在应避免终端条件的情况下,我们通过加权总和公式使用间接方法来求解这些MO OCP。这样,对于每组重量,我们都会通过一个目标获得一个最佳控制问题。在经济MPC中,众所周知,严格的消散性是结论性能和稳定结果的关键假设。因此,我们研究了严格耗散阶段成本的凸组合在哪些条件下再次严格耗散。我们首先提供线性动力学问题的条件,然后继续考虑完全非线性的最佳控制问题。我们在个人成本函数和权重以结论严格的消失性方面得出了必要和充分的条件,并通过数值示例说明了我们的发现。
We consider nonlinear model predictive control (MPC) with multiple competing cost functions. This leads to the formulation of multiobjective optimal control problems (MO OCPs). Since the design of MPC algorithms for directly solving multiobjective problems is rather complicated, particularly if terminal conditions shall be avoided, we use an indirect approach via a weighted sum formulation for solving these MO OCPs. This way, for each set of weights we obtain an optimal control problem with a single objective. In economic MPC it is known that strict dissipativity is the key assumption for concluding performance and stability results. We thus investigate under which conditions a convex combination of strictly dissipative stage costs is strictly dissipative again. We first give conditions for problems with linear dynamics and then move on to consider fully nonlinear optimal control problems. We derive both necessary and sufficient conditions on the individual cost functions and on the weights to conclude strict dissipativity and illustrate our findings with numerical examples.