비선형 MPC 설계
비선형 예측 모델, 비용 및 제약 조건을 사용하여 모델 예측 제어기 설계
전통적인 선형 MPC와 마찬가지로 비선형 MPC는 모델 기반 예측과 제약 조건이 적용된 최적화를 함께 사용하여 각 제어 구간에서 제어 동작을 계산합니다. 주요 차이점은 다음과 같습니다.
예측 모델은 비선형일 수 있으며 시변 파라미터를 포함할 수 있습니다.
등식 제약 조건과 부등식 제약 조건은 비선형일 수 있습니다.
최소화해야 할 스칼라 비용 함수는 결정 변수의 비 2차 (선형 또는 비선형) 함수일 수 있습니다.
기본적으로 비선형 MPC 제어기는 fmincon 함수를 사용하여 비선형 계획법 문제를 해결하며, 이 함수에는 Optimization Toolbox™가 필요합니다. Optimization Toolbox가 없으면 사용자 지정 비선형 솔버를 지정하면 됩니다.
자세한 내용은 Nonlinear MPC 항목을 참조하십시오.
함수
nlmpc | Nonlinear model predictive controller |
nlmpcMultistage | Multistage nonlinear model predictive controller |
validateFcns | Examine prediction model and custom functions of nlmpc or
nlmpcMultistage objects for potential problems |
generateJacobianFunction | Generate MATLAB Jacobian functions for multistage nonlinear MPC using automatic differentiation (R2023a 이후) |
nlmpcmove | Compute optimal control action for nonlinear MPC controller |
nlmpcmoveopt | Option set for nlmpcmove function |
getSimulationData | Create data structure to simulate multistage MPC controller with
nlmpcmove |
convertToMPC | Convert nlmpc object into one or more mpc
objects |
createParameterBus | Create Simulink bus object and configure Bus Creator block for passing model parameters to Nonlinear MPC Controller block |
블록
| Nonlinear MPC Controller | Simulate nonlinear model predictive controllers |
| Multistage Nonlinear MPC Controller | Simulate multistage nonlinear model predictive controllers |
도움말 항목
비선형 MPC 기본 사항
- Nonlinear MPC
Nonlinear model predictive controllers control plants using nonlinear prediction models, cost functions, or constraints. - Specify Prediction Model for Nonlinear MPC
To define a prediction model for a nonlinear MPC controller, specify the state and output functions. - Specify Cost Function for Nonlinear MPC
Nonlinear MPC controllers support generic cost functions, such as a combination of linear or nonlinear functions of the system states, inputs, and outputs. - Specify Constraints for Nonlinear MPC
You can specify custom linear and nonlinear constraints for your nonlinear MPC controller in addition to standard linear MPC constraints. - Configure Optimization Solver for Nonlinear MPC
By default, nonlinear MPC controllers optimize their control move using thefminconfunction from the Optimization Toolbox. You can also specify your own custom nonlinear solver. - Trajectory Optimization and Control of Sliding Robot Using Nonlinear MPC
You can use nonlinear MPC for both optimal trajectory planning and closed-loop control applications. - Landing a Vehicle Using Multistage Nonlinear MPC
Plan an optimal landing trajectory and perform closed-loop control of landing process using multistage nonlinear MPC. - Parallel Parking of Truck-Trailer Using Multistage Nonlinear MPC
Parallel park a truck-trailer system using multistage nonlinear MPC controllers for path planning and trajectory tracking.
C/GMRES 알고리즘을 사용한 다단 제어
- Control Robot Manipulator Using C/GMRES Solver
Control a robot manipulator using multistage nonlinear MPC with C/GMRES solver. - Control Underactuated Two-Link Robot Using C/GMRES Solver
Use multistage nonlinear MPC with multiple-shooting C\GMRES to control an underactuated two-link robot. - Solve Fuel-Optimal Navigation Problem Using C/GMRES
Solve a fuel-optimal navigation problem for a boat using multistage nonlinear MPC with C/GMRES solver. - Swing-Up Control of Cart-Pole System Using C/GMRES Solver
Use multistage nonlinear MPC with single and multiple-shooting C\GMRES to swing up and balance an inverted pendulum.
비선형 플랜트에 대한 피드백 제어
- Nonlinear Model Predictive Control of Exothermic Chemical Reactor
Control a nonlinear plant as it transitions between operating points. - Swing-Up Control of Pendulum Using Nonlinear Model Predictive Control
Achieve swing-up and balancing control of an inverted pendulum on a cart using a nonlinear model predictive controller. - Nonlinear and Gain-Scheduled MPC Control of an Ethylene Oxidation Plant
You can generate one or more linear MPC controllers from a nonlinear MPC controller and use these controllers for gain-scheduled control applications. - Optimization and Control of Fed-Batch Reactor Using Nonlinear MPC
Simulate nonlinear MPC controller as adaptive and time-varying MPC controller, and compare performance.
최적 계획
- Optimizing Tuberculosis Treatment Using Nonlinear MPC with Custom Solver
You can use nonlinear MPC controllers for optimal planning applications that require a nonlinear model with nonlinear costs or constraints. - Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator (Robotics System Toolbox)
Plan closed-loop collision-free robot trajectories to a desired end-effector pose using nonlinear model predictive control. - Generate Code to Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator
Use nonlinear MPC to plan and execute trajectories for a robot manipulator.
경제적 MPC
- Economic MPC
Economic model predictive controllers optimize control actions to satisfy generic economic or performance cost functions. - Economic MPC Control of Ethylene Oxide Production
Maximize production of an ethylene oxide plant for profit using a nonlinear cost function and nonlinear constraints.
신경망 예측 모델 및 그레이박스 예측 모델 사용하기
- Control House Heating Using Nonlinear MPC with Neural State-Space Prediction Model
Design a Multistage MPC controller using a neural state space prediction model. - Swing-Up Control of Pendulum Using Multistage Nonlinear MPC with Nonlinear Grey-Box Model
Design a Multistage MPC controller using a nonlinear grey-box prediction model.
수동성 기반 MPC
- Control Robot Manipulator Using Passivity-Based Nonlinear MPC
Enforce stability of a robotic manipulator by implementing passivity-based constraints in a nonlinear MPC controller. - Control Quadruple-Tank Using Passivity-Based Nonlinear MPC
Control a system of four water tanks using passivity-based MPC.
추천 예제
Truck and Trailer Automatic Parking Using Multistage Nonlinear MPC
Use multistage nonlinear MPC to park a truck and trailer system in presence of static obstacles.
Lane Following Using Nonlinear Model Predictive Control
Design a lane-following controller using nonlinear MPC with road curvature previewing.
Lane Change Assist Using Nonlinear Model Predictive Control
Design a lane-change controller using nonlinear MPC.
Control of Quadrotor Using Nonlinear Model Predictive Control
Design a trajectory-tracking controller for a quadrotor using nonlinear MPC.
