有效求解谐波模型预测控制公式
Efficiently solving the harmonic model predictive control formulation
摘要：
谐波模型预测控制（HMPC）是一种模型预测控制（MPC）公式，它比其他MPC公式显示出几个优点，特别是当使用小的预测时域时。然而，这些益处是以优化问题为代价的，该优化问题由于包括特定类别的二阶锥约束而不再是从大多数线性MPC公式导出的典型二次规划问题。本文提出了一种方法，有效地处理这些约束的算子分裂方法，导致一个计算时间求解HMPC符合最先进的求解器线性MPC。我们将展示如何将这一结果应用到乘数算法的交替方向法，提出了一个求解器，我们比较其他求解器从文献中，包括求解器为其他线性MPC配方。结果表明，所提出的求解器，并通过扩展的HMPC制定，是适合其在嵌入式系统中的实施。
英文摘要：
Harmonic model predictive control (HMPC) is a model predictive control (MPC) formulation which displays several benefits over other MPC formulations, especially when using a small prediction horizon. These benefits, however, come at the expense of an optimization problem that is no longer the typical quadratic programming problem derived from most linear MPC formulations due to the inclusion of a particular class of second order cone constraints. This article presents a method for efficiently dealing with these constraints in operator splitting methods, leading to a computation time for solving HMPC in line with state of the art solvers for linear MPC. We show how to apply this result to the alternating direction method of multipliers algorithm, presenting a solver which we compare against other solvers from the literature, including solvers for other linear MPC formulations. The results show that the proposed solver, and by extension the HMPC formulation, is suitable for its implementation in embedded systems.
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