Predictive Control Based on Information Fusion Optimal Estimation for Nonlinear Discrete System
基于信息融合最优估计的非线性离散系统预测控制

For the quadratic optimal predictive control problem of the nonlinear discrete system,an iterative predictive control algorithm based on nonlinear information fusion optimal estimation is presented in this paper.By fusing the soft constraints information of the future reference trajectory and the control energy in the quadratic performance index function,and the hard constraints information supplied by the system state equation and the output equation,the optimal estimations of the co-state sequence and the control variable sequence are obtained.Simulation results of the shift control of a two-degree of freedom manipulator indicate the good stability and robustness of the proposed control algorithm.