Extended linearised predictive control: Practical control algorithms for non-linear systems

David Megías, J. Serrano, M. Y. E. Ghoumari
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引用次数: 17

Abstract

In this paper two predictive controllers for non-linear systems are presented. Both methods-ELPC and MELPC-are based on a local linearisation of the process at each sampling instant, thus, a priori, should perform better than the controllers designed in terms of a single linearisation about an operating point. On the other hand, their linear formulation leads to computation times much shorter than those provided by non-linear predictive control methods. After their formulation, ELPC and MELPC are compared with a linear predictive controller on a three-degrees-of-freedom robot, showing their good performance and computation times features.
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扩展线性化预测控制:非线性系统的实用控制算法
本文提出了两种非线性系统的预测控制器。这两种方法——elpc和melpc——都是基于每个采样瞬间过程的局部线性化,因此,先验地,应该比在一个工作点的单一线性化方面设计的控制器表现得更好。另一方面,它们的线性公式导致计算时间比非线性预测控制方法短得多。将ELPC和MELPC与三自由度机器人上的线性预测控制器进行了比较,显示了其良好的性能和计算次数的特点。
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