Model Predict Control Method Based on Higher-order Observer and Disturbance Compensation Control

被引：0

作者：

Wang D.-W. ^{[1
]}

Fu Y. ^{[1
]}

机构：

[1] State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2020年 / 46卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Disturbance compensation control; Higher-order observer; Model predictive control (MPC); Ship heading control;

D O I：

10.16383/j.aas.c180697

中图分类号：

学科分类号：

摘要：

By combining a higher-order observer with disturbance compensation control and standard model predictive control (MPC), a novel MPC method is proposed for a discrete-time linear system with unmeasurable states, unknown external disturbances and constraints of states and inputs. Firstly, a higher-order observer is used to simultaneously observe unknown states and disturbances, such that the observation errors are uniformly bounded. Then a new disturbance compensation control method is designed based on the disturbance estimation, and the proposed method is obtained by combining the disturbance compensation control with the standard MPC based on the state estimation. The proposed method overcomes the limitation that there is no feasible solution when using the existing MPC methods to solve the optimization control problem with external disturbances and state constraints, which can also assure the system states satisfying their constraint conditions at each time instant, and make the output responses of the system close to those of the linear nominal system controlled by the standard MPC method. Finally, the proposed control method is applied to a ship heading control system, and the simulation results show its effectiveness and superiority. Copyright © 2020 Acta Automatica Sinica. All rights reserved.

引用

页码：1220 / 1228

页数：8

共 27 条

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