基于几何方法的约束线性系统控制快速算法

摘要

针对存在状态量和控制量约束的线性系统控制问题,提出了新快速算法.已有的处理上述约束系统控制问题的多面体方法和椭球方法在实际应用过程中分别存在计算繁琐和计算保守的问题.在数学分析的基础上,通过对上述算法的水平集计算过程的优化,提出了一种计算简单的约束控制算法.仿真结果表明,这种算法计算简单,且可以满足系统控制的要求.%A new method was proposed to solve the control problem for linear system with constrained states and controlconstraints. Polytope and Ellipsoidal techniques had been used for constrained system control, but they were either too complexor too conservative for many applications. Based on the mathematic analysis, the algorithm with simple computations was pro-posed by optimizing the computation of the level sets. Simulations show that the computation of this new method is much sim-pler than before and all the initial points can be steered to the given set properly.