Constrained time-optimal control of double-integrator system and its application in MPC

13th European Workshop on Advanced Control and Diagnosis

Fehér, Marek^1 ; Straka, Ondej^1 ; Šmídl, Václav^2

Department of Cybernetics and European, Center of Excellence: New Technologies for Information Society, University of West Bohemia, Univerzitní 8, Pilsen

30614, Czech Republic^1

Regional Innovation Centre for Electrical Engineering (RICE), University of West Bohemia, Pilsen, Czech Republic^2

关键词: Constrained controls;    Double integrator;    Double integrator model;    ITS applications;    Permanent Magnet Synchronous Motor;    State and control constraints;    Time optimal control;    Time-optimal controller;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012024/pdf
DOI  :  10.1088/1742-6596/783/1/012024

来源: IOP

【 摘 要 】

The paper deals with the design of a time-optimal controller for systems subject to both state and control constraints. The focus is laid on a double-integrator system, for which the time-to-go function is calculated. The function is then used as a part of a model predictive control criterion where it represents the long-horizon part. The designed model predictive control algorithm is then used in a constrained control problem of permanent magnet synchronous motor model, which behavior can be approximated by a double integrator model. Accomplishments of the control goals are illustrated in a numerical example.