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Interpolating Constrained Control of Interconnected Systems

机译：互联系统的插值约束控制

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This paper presents a decentralised interpolating control scheme for the control of linear discrete-time interconnected systems with local state and control constraints. The control law of each distinct subsystem relies on the gentle interpolation between a local high-gain controller, which satisfies some user-desired performance specifications, with a global low-gain controller. For each subsystem both low- and high-gain controllers can be efficiently determined off-line, while the inexpensive interpolation between them is performed on-line. For the interpolation, a new low-dimensional linear programming formulation is developed, which is computationally less expensive compared to previous works. Therefore, it is appropriate for realtime control of large-scale interconnected systems. Proofs of recursive feasibility and asymptotic stability of the interpolating scheme are given for decoupled as well as interconnected subsystems with coupled state constraints. Two numerical examples show that the proposed decentralised interpolating control outperforms previously proposed interpolating schemes. Finally, it is faster than model predictive control, while their control behaviour and performance is almost identical.
机译：本文提出了一种分散式插值控制方案，用于控制具有局部状态和控制约束的线性离散时间互连系统。每个不同子系统的控制律都依赖于本地高增益控制器与全局低增益控制器之间的缓和插值，该控制器满足了用户所需的性能规格。对于每个子系统，都可以离线高效地确定低增益和高增益控制器，而它们之间的廉价插值则可以在线执行。对于插值，开发了一种新的低维线性规划公式，与以前的工作相比，该公式在计算上更便宜。因此，适用于大规模互连系统的实时控制。对于具有耦合状态约束的解耦子系统和互连子系统，给出了插值方案的递归可行性和渐近稳定性的证明。两个数值示例表明，所提出的分散插值控制的性能优于先前提出的插值方案。最后，它比模型预测控制快，而它们的控制行为和性能几乎相同。

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