论文标题
朝向具有相对程度的非线性系统的漏斗MPC
Towards Funnel MPC for nonlinear systems with relative degree two
论文作者
论文摘要
漏斗MPC是一种新型模型预测控制（MPC）方案，可以保证对非线性多输入多输出系统的规定误差界的平滑参考信号进行保证跟踪。为此，舞台成本类似于漏斗控制的高增强概念。但是，对于初始和递归可行性的严格证明，而无需在漏斗MPC方案中纳入其他输出约束，仅适用于具有相对程度和稳定的内部动力学的系统。在本文中，我们通过基于阶段成本中的派生漏斗的概念，将这些结果扩展到具有相对程度的系统的系统。
Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows guaranteed output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems. To this end, the stage cost resembles the high-gain idea of funnel control. However, rigorous proofs for initial and recursive feasibility without incorporating additional output constraints in the Funnel MPC scheme are only available for systems with relative degree one and stable internal dynamics. In this paper, we extend these results to systems with relative degree two by incorporating also a term based on the idea of a derivative funnel in the stage cost.
