华中科技大学学报（自然科学版）2025，Vol.53Issue(5)：1-8,8.DOI:10.13245/j.hust.250749
基于增量支配MPC的高速高精轨迹跟踪控制
High-speed and high-precision trajectory tracking control based on incremental domination MPC
摘要
Abstract
Aiming at the problem that traditional model predictive control(MPC)made it difficult to meet the real-time requirements of fast systems with high sampling rates,the incremental domination MPC method was proposed.First,binary variables were introduced to define the dominant relationship between adjacent controls,the domination relationship matrix was constructed,and the matrix was utilized to make the control quantities to be solved constrained and reduce the online solving degrees of freedom.Then,to make the controller focus on the calculation of the current control quantity,the loss function was constructed by using the average error of the state quantities and the average solution time,and the restricted part of the dominance relation matrix was optimized based on the binary equilibrium optimizer(BiEO)algorithm to establish an incremental dominance MPC.Finally,experimental validation was carried out by using Matlab.Results show that the proposed method has a small increase in the control accuracy and a substantial increase in the real-time performance without affecting the smoothness of the control,and the solution time can be reduced by 43.06%and 31.99%when the control domain is 50 and 70,respectively,which is better than the existing methods.关键词
轨迹跟踪/模型预测控制/BiEO算法/支配关系矩阵/实时性Key words
trajectory tracking/model predictive control/BiEO algorithm/dominance relation matrix/real-time performance分类
交通运输引用本文复制引用
邵柏岩,叶伯生,金雄程,罗智辉..基于增量支配MPC的高速高精轨迹跟踪控制[J].华中科技大学学报（自然科学版）,2025,53(5):1-8,8.基金项目
湖北省重点研发计划资助项目(2021BAA197). （2021BAA197）
