Computation delay compensation for real time implementation of robust model predictive control
The implementation of Model Predictive Control (MPC) requires to solve an optimization problem online. The computation time, often not negligible especially for Nonlinear MPC (NMPC), introduces a delay in the feedback loop.Moreover, it impedes fast sampling rate setting for the controller to react to uncertainties quickly. In this paper, a dual time scale control scheme is proposed for linear/nonlinear systems with external disturbances. A pre-compensator works at fast sampling rate to suppress uncertainty, while the outer MPC controller updates the open loop input sequence at a slower rate. The computation delay is explicitly considered and compensated in the MPC design. Four Robust MPC algorithms for linear/nonlinear systems in the literature are tailored for the proposed control scheme. The recursive feasibility and stability are rigorously analyzed. Simulation examples validate the proposed approaches.
Yang Su Kok Kiong Tan Tong Heng Lee
Department of Electrical & Computer EngineeringNational University of Singapore, 4 Engineering Drive Department of Electrical & Computer Engineering National University of Singapore, 4 Engineering Driv
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
242-247
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）