SYSTEMS AND METHODS FOR USING NONLINEAR MODEL PREDICTIVE CONTROL (MPC) FOR AUTONOMOUS SYSTEMS

    公开(公告)号:US20200089229A1

    公开(公告)日:2020-03-19

    申请号:US16133987

    申请日:2018-09-18

    Abstract: A method for using a closed-loop control system to control an autonomous system is disclosed, the closed-loop control system comprising an explicit Nonlinear Model Predictive Control (NMPC) framework. The method (i) computes operation parameters for the autonomous system using the closed-loop control system, the output of the explicit NMPC framework comprising the operation parameters; (ii) modifies the output of the explicit NMPC framework to consider unmeasured system states, unknown system model values, and external disturbances, to create modified operation parameters, using an extended high-gain observer (EHGO) to estimate the unmeasured system states and the external disturbances and a dynamic inverter to compute values of unknown input coefficients for a system model of the autonomous system; (iii) generates a modified output signal including the modified operation parameters; and (iv) transmits the modified output signal to control operation of the autonomous system using the modified operation parameters.

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