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Lecture 14 - Model Predictive Control Part 1: The Concept: - History and Industrial Application Resource
Lecture 14 - Model Predictive Control Part 1: The Concept: - History and Industrial Application Resource
Plant
Model
prediction horizon
prediction horizon
current dynamic
Plant system states
• Missile guidance
τ
∑ ( y (τ ) )
=t +1
2
+ r (u (τ ) − u(τ − 1) ) → min
2
subject to : u(τ ) ≤ u0
x1
t>N
subject to : u(τ ) ≤ u0 ,
x (t + 1) = Ax (t ) + Bu (t )
y (t ) = Cx (t )
• This is a QP problem
• Solution
x (t ) → [MPC Problem, QP Solver] → U → u(t + 1) = U (1)
u (t + 1) = l (rD D + H H ) H T (Gx (t ) + Fu (t ) )
T T T −1
u = z −1 Kx + z −1 Su
K = l T (rD T D + H T H ) H T G S = l T (rD T D + H T H ) H T F
−1 −1
Lane direction
Preview horizon
x
x
• Assume a straight lane – tracking a straight line
• Linearized system: assume a << 1
sin a ≈ a y& = Va
cos a ≈ 1 a& = u
• Sampled-time equations (sampling time Ts)
a (t + 1) = a (t ) + u(t )Ts
2
y (t + 1) = y (t ) + a (t )VTs + u(t ) ⋅ 0.5VTs
EE392m - Spring 2005 Control Engineering 14-22
Gorinevsky
Lateral Control of a Car - MPC
State-space system: x (t + 1) = Ax (t ) + Bu(t )
⎡ a (t ) ⎤ ⎡ 1 0⎤ ⎡ Ts ⎤
x (t ) = ⎢ ⎥ A=⎢ ⎥ , B=⎢ 2⎥
⎣ y (t )⎦ ⎣VTs 1⎦ ⎣ 0.5VTs ⎦
Observation: y (t ) = Cx(t ) C = [0 1]
• Formulate predictive model
Y = Gx + HU + Fu
• MPC optimization problem
J = (Gx + HU + Fu ) (Gx + HU + Fu ) + rU T D T DU → min
T
subject to : U ≤ u0 ,
• Solution: x (t ) → [MPC QP] → U → u(t + 1) = U (1)
EE392m - Spring 2005 Control Engineering 14-23
Gorinevsky
Impulse Responses
IMPULSE RESPONSE FOR LATERAL ERROR
20
15
10
0
0 2 4 6 8 10 12 14 16 18 20
0
0 2 4 6 8 10 12 14 16 18 20
Results: -1
-1.5
-2
0 1 2 3 4 5 6 7 8
• V = 50 mph LATERAL ERROR
1
• Sample time
of 200ms 0.5
• N = 20 0
0 1 2 3 4 5 6 7 8
• All variables 1
STEERING CONTROL (deg/s)
in SI units 0.5
• r=1 0
-0.5
-1
0 1 2 3 4 5 6 7 8
TIME (sec)