论文标题
经济MPC中的原始或双终端约束？ - 比较和见解
Primal or Dual Terminal Constraints in Economic MPC? -- Comparison and Insights
论文作者
论文摘要
本章比较了经济非线性模型预测控制（EMPC）的不同配方，这些模型基于对基础最佳控制问题（OCP）的既定消耗性假设。这包括有或没有稳定终端约束的方案，也包括稳定的终端成本。我们记得，基于梯度校正终端处罚的最近提出的方法意味着对OCP的伴随的终端约束。我们分析了这些双重/伴随终端约束的可行性含义，并将我们的发现与有或没有原始终端约束的方法进行了比较。此外，我们建议一个概念框架，用于近似最小的稳定范围。最后，我们以化学反应器为例说明了我们的发现。
This chapter compares different formulations for Economic nonlinear Model Predictive Control (EMPC) which are all based on an established dissipativity assumption on the underlying Optimal Control Problem (OCP). This includes schemes with and without stabilizing terminal constraints, respectively, or with stabilizing terminal costs. We recall that a recently proposed approach based on gradient correcting terminal penalties implies a terminal constraint on the adjoints of the OCP. We analyze the feasibility implications of these dual/adjoint terminal constraints and we compare our findings to approaches with and without primal terminal constraints. Moreover, we suggest a conceptual framework for approximation of the minimal stabilizing horizon length. Finally, we illustrate our findings considering a chemical reactor as an example.
