| Imprecise Computation Based Real-time Fault Tolerant implementation for Model Predictive Control |
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| 作者姓名： | 周平方 谢剑英 |
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| 作者单位： | Department of Automation, Shanghai Jiaotong University, Shanghai 200030 |
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| 摘 要： | Model predictive control （MPC） could not be deployed in real-time control systems for its computation time is not well defined. A real-time fault tolerant implementation algorithm based on imprecise computation is proposed for MPC, according to the solving process of quadratic programming （QP） problem. In this algorithm, system stability is guaranteed even when computation resource is not enough to finish optimization completely. By this kind of graceful degradation, the behavior of real-time control systems is still predictable and determinate. The algorithm is demonstrated by experiments on servomotor, and the simulation results show its effectiveness.
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| 关 键 词： | 模型预测控制 故障容错 不精确估计 实时控制 |
| 收稿时间： | 2004-10-27 |
Imprecise Computation Based Real-time Fault Tolerant Implementation for Model Predictive Control |
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| ZHOU Ping-fang,XIE Jian-ying.Imprecise Computation Based Real-time Fault Tolerant implementation for Model Predictive Control[J].Journal of Donghua University,2006,23(1):148-150. |
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| Authors: | ZHOU Ping-fang XIE Jian-ying |
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| Abstract: | Model predictive control (MPC) could not be deployed in real-time control systems for its computation time is not well defined. A real-time fault tolerant implementation algorithm based on imprecise computation is proposed for MPC, according to the solving process of quadratic programming (QP) problem. In this algorithm, system stability is guaranteed even when computation resource is not enough to finish optimization completely. By this kind of graceful degradation, the behavior of real-time control systems is still predictable and determinate. The algorithm is demonstrated by experiments on servomotor, and the simulation results show its effectiveness. |
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| Keywords: | model predictive control fault tolerance imprecise computation real-Time control |
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