Robust MPC with event-triggered learning for unknown linear time-varying systems

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-13 DOI:10.1016/j.automatica.2025.112434

Li Deng, Zhan Shu, Tongwen Chen

引用次数: 0

Abstract

This paper is concerned with robust model predictive control (MPC) for unknown linear time-varying (LTV) systems where all time-varying system matrices are assumed to belong to an unknown polytope. Based on the current observation only, an event-triggered learning scheme involving a model estimation and a polytope learning is proposed, leading to the reduction of the number of learning iterations and the guarantee of the convergence of learning. With the learned polytope, a robust MPC controller subject to a mixed state-input constraint is purposely designed to minimize the upper bound of a worst-case infinite horizon objective function with a discount factor. A matching error is constructed to connect two consecutive learned polytopes and accordingly the input-to-state stability is analyzed. Two examples are used to show the effectiveness of the proposed approach.

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未知线性时变系统的事件触发学习鲁棒MPC

本文研究了未知线性时变系统的鲁棒模型预测控制问题，其中所有时变系统矩阵都假定属于一个未知多面体。提出了一种包含模型估计和多面体学习的事件触发学习方案，减少了学习迭代次数，保证了学习的收敛性。利用学习到的多面体，设计了一个具有混合状态-输入约束的鲁棒MPC控制器，以最小化具有折现因子的最坏情况无限视界目标函数的上界。构造匹配误差来连接两个连续学习的多面体，并据此分析输入状态稳定性。通过两个算例验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.