Robust variable-horizon MPC with adaptive terminal constraints

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-20 DOI:10.1016/j.automatica.2025.112465

Renato Quartullo, Gianni Bianchini, Andrea Garulli, Antonio Giannitrapani

引用次数: 0

Abstract

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are considered and a tube-based MPC approach is adopted. The main contribution is an adaptive mechanism for choosing the terminal constraint set sequence in the MPC optimization problem. This mechanism is designed to ensure recursive feasibility while promoting minimization of the final distance to the target. Finite-time convergence of the proposed control scheme is proven. In order to evaluate its effectiveness, the designed control law is tested through numerical simulations, including a case study involving orbital rendezvous of a satellite with a tumbling object. The results indicate a significant reduction in conservatism compared to existing state-of-the-art methods using a fixed terminal set sequence.

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具有自适应终端约束的鲁棒变视界MPC

本文提出了一种新的鲁棒变视界模型预测控制方案，用于在有限时间内拦截沿已知轨迹运动的目标。考虑受有界过程扰动影响的线性离散系统，采用了一种基于管的MPC方法。主要贡献是在MPC优化问题中提出了一种选择终端约束集序列的自适应机制。该机制旨在保证递归可行性，同时促进到目标的最终距离最小化。证明了所提控制方案的有限时间收敛性。为了评价所设计控制律的有效性，通过数值仿真对所设计控制律进行了验证，并以卫星与翻滚物体的轨道交会为例进行了仿真研究。结果表明，与使用固定终端集序列的现有最先进方法相比，保守性显著降低。

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.