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Penalty Functions for Handling Large Deviation of Quadrature States in NMPC

机译：处理NMPC中正交状态大偏差的罚函数

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摘要

Nonlinear Model Predictive Control for mechanical applications is often used to perform the tracking of time-varying reference trajectories, and is typically implemented using quadratic penalty functions. Controllers for mechanical systems, however, are often required to handle large deviations from the reference trajectory. In such cases, it has been observed that NMPC schemes based on quadratic penalties can have undesirably aggressive behaviours. Heuristics can be developed to tackle these issues, but they require intricate and non-systematic tuning procedures. This paper proposes an NMPC scheme based on a specific class of penalty functions to handle large deviations of quadrature states from their reference, offering an intuitive and easy-to-tune alternative. The behaviour of the proposed NMPC scheme is analysed, and the conditions for its nominal stability are established. The control scheme is illustrated on a simulated quadcopter.
机译：机械应用的非线性模型预测控制通常用于执行时变参考轨迹的跟踪，并且通常使用二次罚函数来实现。然而，通常需要用于机械系统的控制器来处理与参考轨迹的较大偏差。在这种情况下，已经观察到基于二次惩罚的NMPC方案可能具有不良的攻击行为。可以开发启发式方法来解决这些问题，但是它们需要复杂且非系统的调整过程。本文提出了一种基于惩罚函数的特定类的NMPC方案，以处理正交状态与其参考之间的较大偏差，从而提供了一种直观且易于调整的替代方案。分析了提出的NMPC方案的行为，并确定了其名义稳定性的条件。在模拟四轴飞行器上说明了控制方案。

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