Application of model predictive control in the aerial vehicle programming system

XU Jian; SUN Xiu-xia; LI Da-dong

doi:10.13873/j.1000-97872011.07.013

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Application of model predictive control in the aerial vehicle programming system

更新时间：2025-09-11

- Application of model predictive control in the aerial vehicle programming system
- Vol. 30, Issue 7, Pages: 143-145(2011)
- 作者机构：
  
  空军工程大学工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.07.013
  CLC： V249.1
- Published：2011
- 稿件说明：
移动端阅览
[1]许健,孙秀霞,李大东.模型预测控制在飞行器规划系统中的应用[J].传感器与微系统,2011,30(07):143-145.

XU Jian, SUN Xiu-xia, LI Da-dong. Application of model predictive control in the aerial vehicle programming system[J]. 2011, 30(7): 143-145.
[1]许健,孙秀霞,李大东.模型预测控制在飞行器规划系统中的应用[J].传感器与微系统,2011,30(07):143-145. DOI： 10.13873/j.1000-97872011.07.013.

XU Jian, SUN Xiu-xia, LI Da-dong. Application of model predictive control in the aerial vehicle programming system[J]. 2011, 30(7): 143-145. DOI： 10.13873/j.1000-97872011.07.013.

摘要

提出采用预测控制与混合整数线性规划相结合

解决飞行器任务规划的鲁棒控制问题

以混合整数线性形式给出飞行器动力学模型、优化目标以及相关约束

并提出一种终端零约束性能指标函数

以此证明了预测控制器的全局最优性和Lyapunov稳定性。仿真结果表明:该方法能够实现飞行器对固定目标的航迹规划任务

并对所探测到的威胁进行实时回避

能够实时运行

具有工程可实现性。

Abstract

Vehicle programming system robust control problem is solved by model predictive control combining with mixed integer linear programming.Based on mixed integer linear programming

aerial vehicle kinetics model

optimization objective and related constraint are given.Global optimality and Lyapunov stability of model predictive controller is proved by a zero terminal constrained performance index function.The simulation results show that the approach can realize the vehicle programming on immobile target and avoid the detected threats to the vehicle realtime.It can be executed real time and easy to be realized.

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references

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预测控制定性综合理论的基本思路和研究现状 [J]. 席裕庚,李德伟. 自动化学报 . 2008(10)

输入非线性系统的两步法预测控制的鲁棒稳定性 [J]. 牛永肖,丁宝苍,孙鹤旭. 控制与决策 . 2006(04)

基于混合整数线性规划的飞行器防撞轨迹规划 [J]. 吕旸,万小朋,师勇. 飞行力学 . 2005(02)

不确定系统的滚动时域H ∞ 控制设计 [J]. 耿晓军,席裕庚. 控制与决策 . 2000(02)

模型预测控制理论及应用研究 [D]. 徐祖华. 浙江大学 2004

非完整移动机器人避障控制器的设计 [D]. 谢晓理. 哈尔滨工业大学 2006

模型预测控制算法在应用中的研究和软件包的实现 [D]. 管善功. 华北电力大学（北京） 2006

预测控制的理论与方法[M]. 机械工业出版社 , 丁宝苍, 2008

Constrained model predictive control: Stability and optimality [J] . D.Q. Mayne,J.B. Rawlings,C.V. Rao,P.O.M. Scokaert. Automatica . 2000 (6)

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