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SYSTEMS AND METHODS FOR USING NONLINEAR MODEL PREDICTIVE CONTROL (MPC) FOR AUTONOMOUS SYSTEMS
SYSTEMS AND METHODS FOR USING NONLINEAR MODEL PREDICTIVE CONTROL (MPC) FOR AUTONOMOUS SYSTEMS
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机译：用于自治系统的非线性模型预测控制（MPC）的系统和方法
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摘要
A method for using a closed-loop control system to control an autonomous system is disclosed, the closed-loop control system comprising an explicit Nonlinear Model Predictive Control (NMPC) framework. The method (i) computes operation parameters for the autonomous system using the closed-loop control system, the output of the explicit NMPC framework comprising the operation parameters; (ii) modifies the output of the explicit NMPC framework to consider unmeasured system states, unknown system model values, and external disturbances, to create modified operation parameters, using an extended high-gain observer (EHGO) to estimate the unmeasured system states and the external disturbances and a dynamic inverter to compute values of unknown input coefficients for a system model of the autonomous system; (iii) generates a modified output signal including the modified operation parameters; and (iv) transmits the modified output signal to control operation of the autonomous system using the modified operation parameters.
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