Design and analysis of constrained nonlinear quadratic regulator

被引：10

作者：

Ding, BC ^{[1
]}

Li, SY ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Inst Automat, Shanghai 200030, Peoples R China

来源：

ISA TRANSACTIONS | 2003年 / 42卷 / 02期

关键词：

constrained nonlinear quadratic regulator; dual-mode; stability; feasibility;

D O I：

10.1016/S0019-0578(07)60130-X

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A suboptimal dual-mode solution to constrained nonlinear quadratic regulator (CNLQR) problem is studied. In a neighborhood of the origin, the controller is formulated as an LQR based on a model obtained by linearizing the original model at the origin. Outside this neighborhood. the control law is obtained by solving a finite horizon optimization problem (FHOP) with additional terminal inequality constraints. The terminal inequality constraints make the terminal states of FHOP be driven into the neighborhood of the origin. which is a specially designed control invariant set with respect to LQR control law. The overall control law is obtained by combining that obtained by solving FHOP and that obtained form LQR. The feasibility aspect is analyzed and asymptotic stability is proven. The effectiveness of this suboptimal controller is demonstrated by simulation studies. (C) 2003 ISA-The Instrumentation, Systems, and Automation Society.

引用

页码：251 / 258

页数：8

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