具有排除约束的鲁棒模型预测轨迹跟踪控制

打开文本图片集

中图分类号：TP13 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.03.27

Robust model predictive control for trajectory tracking with exclusion constraint

SUN Haidi，DAI Li*，WANG Peizhan，XIA Yuanqing （SchoolofAutomation，BeijingInstituteofTechnology，BeijinglOoo8l，China）

Abstract：For trajectory tracking control problems with uncertainties and exclusion constraints，a computationally eficient robust model predictive unreachable trajectory tracking control algorithm is proposed. Firstly，a feasible periodic reference trajectory satisfying all constraints is introduced and the separating hyperplanes between theuncertain system state set and all exclusion constraint sets are calculated.The exclusion constraint safe sets are generated and the inherently nonconvex exclusion constraints are converted into closed polyhedral constraints.Then，by introducing auxiliary variables，the trajectory planning problem with exclusion constraints and the tracking control problem are integrated into an optimization problem，which is solved using quadratic programming and the actual system state trajectory converges to the optimal reachable reference trajectory. In addition，the algorithm can ensure the recursive feasibility and the robust stability. Finally，the effectivenessand efficiency of the proposed algorithm are verified by the simulation.

Keywords：uncertain system；exclusion constraint；unreachable trajectory；robust model predictive control

0 引言

鲁棒模型预测控制凭借其在处理静态约束、动态约束、模型不确定性等方面的卓越能力，受到工业界和学术界的广泛关注[1-3]。（剩余21238字）