| 发明名称 |
Model Predictive Control with Uncertainties |
| 摘要 |
A method controls iteratively the operation of the machine with control inputs determined using the model of the machine based on an optimization of a cost function subject to constraints on the control inputs. A current iteration of the method includes determining a current state of the machine after the controlling with a previous control input determined for a previous iteration by optimizing a previous cost function using a previous model of the machine and determining a current model of the machine to reduce a difference between the current state and a state estimated using the previous model of the machine. The cost function is updated during the current iteration based on a difference between the previous model and the current model to produce a current cost function. A current control input for the controlling at the current iteration is determined using the current model and the current cost function. |
| 申请公布号 |
US2016147203(A1) |
申请公布日期 |
2016.05.26 |
| 申请号 |
US201414552788 |
申请日期 |
2014.11.25 |
| 申请人 |
Mitsubishi Electric Research Laboratories, Inc. |
发明人 |
Di Cairano Stefano;Weiss Avishai |
| 分类号 |
G05B13/04;G05B15/02 |
主分类号 |
G05B13/04 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A method for controlling an operation of a machine according to a model of the machine, comprising:
controlling iteratively the operation of the machine with control inputs determined using the model based on an optimization of a cost function subject to constraints on the control inputs, wherein at least one current iteration comprises: determining a current state of the machine after the controlling with a previous control input determined for a previous iteration by optimizing a previous cost function using a previous model of the machine; determining a current model of the machine to reduce a difference between the current state and a state estimated using the previous model of the machine; updating the cost function based on a difference between the previous model and the current model to produce a current cost function; and determining a current control input for the controlling at the current iteration using the current model and the current cost function, wherein steps of the methods are performed by a processor of a controller controlling the operation of the machine. |
| 地址 |
Cambridge MA US |
