论文标题
参考跟踪随机模型对不可靠的通道和有限控制动作的预测控制
Reference tracking stochastic model predictive control over unreliable channels and bounded control actions
论文作者
论文摘要
在存在无限的过程噪声和有限控制输入的情况下，在不可靠的Bernoulli通信通道上进行了随机模型预测控制框架，用于跟踪参考信号。控制通道中的数据损失通过精心设计的传输协议以及传感器通道的辍学器补偿。在存在嘈杂的辍学补偿的情况下，提出了一类饱和的，干扰反馈策略。参考调查员被用来生成可跟踪的参考轨迹，并采用稳定性约束来确保参考跟踪误差的均方界限。总体方法产生了一项可计算上的二次程序，可以在线迭代解决。
A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in the control channel are compensated by a carefully designed transmission protocol, and that of the sensor channel by a dropout compensator. A class of saturated, disturbance feedback policies is proposed for control in the presence of noisy dropout compensation. A reference governor is employed to generate trackable reference trajectories and stability constraints are employed to ensure mean-square boundedness of the reference tracking error. The overall approach yields a computationally tractable quadratic program, which can be iteratively solved online.
