Matlab: Adaptive MPC Design, Time-Varying MPC Design, Nonlinear MPC Design

Matlab中三种MPC方法的联系与区别

原创

已于 2022-10-30 12:56:31 修改 · 922 阅读

3 ·

CC 4.0 BY-SA版权

文章标签：

#matlab #动态规划

于 2022-10-29 15:06:12 首次发布

本文探讨Matlab里自适应mpc、（线性）时变MPC、非线性MPC的联系和区别。介绍了自适应MPC可补偿非线性或时变特性，时变MPC适用于预测未来变化的情况，非线性MPC的预测模型、约束和成本函数可为非线性。还提及Matlab有相关例子可参考代码实现。

Matlab里的自适应mpc、（线性）时变MPC、非线性MPC有什么联系和区别？

看看帮助文档里Adaptive MPC Design：

Adaptive MPC controllers adjust their prediction model at run time to compensate for nonlinear or time-varying plant characteristics. To implement adaptive MPC, first design a traditional model predictive controller for the nominal operating conditions of your control system, and then update the plant model and nominal conditions used by the MPC controller at run time. For more information, see Adaptive MPC. After updating, the plant model and nominal conditions remain constant over the prediction horizon.

If you can predict how the plant