Control system and method for controlling operation of system

Abstract

A control system for controlling an operation of a system with continuous- time nonlinear dynamics subject to constraints including equality and inequality constraints on state and control variables of the system, including an estimator to estimate a current state of the system using measurements of the operation of the system and a controller to iteratively solve, at each control time step, an approximation of a constrained nonlinear optimization problem to produce a control solution, wherein the approximation includes a linearization of the nonlinear dynamics of the system discretized by time intervals in the control horizon and represented using an approximation of the constraint Jacobian matrix for each time interval of the control horizon. The iterative solution procedure is based ona block- wise update formula for the approximation of the constraint Jacobian matrix and the intermediate condensing matrices using an evaluation of one or combination of the discretized dynamics of the system and at least one directional derivative of the discretized dynamics of the system. Each block in the constraint Jacobian matrix and in the intermediate condensing matrices represents one time interval in the prediction horizon and can be updated independently, based on a block- wise rank-one update formula without any iterative solution procedure and without any matrix-matrix multiplications or matrix factorizations.

Description

Technical field [0001] The present invention generally relates to the predictive control of a nonlinear dynamic system, and more specifically, to a method and device for the low-rank Jacobian update of the block structure in a quasi-Newton-type optimization algorithm for real-time predictive control of the nonlinear system . Background technique [0002] Predictive controllers such as model predictive control (MPC) are used in many applications to control complex dynamic systems described by a set of nonlinear differential equations (ie, ordinary differential equations (ODE) or differential algebraic equations (DAE) sets). Examples of these systems include production lines, vehicles, satellites, engines, robots, generators, and other CNC machines. [0003] The direct optimal control method relies on the discretization of the continuous-time differential equation based on the discretization of the control range and the corresponding parameterized control action on the prediction ra...

AI Technical Summary

Problems solved by technology

This linearization can be expensive and requires Jacobian evaluation when using explicit integration methods, which can additionally require matrix factorization, matrix-matrix multiplication, and / or iterative procedures in the case of implicit integration methods to solve nonlinear systems of equations

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