故障估计下子空间预测控制的快速梯度算法

基于闭环系统观测数据，直接设计估计故障和预测控制器.在施加故障的上下限约束条件下，采用快速梯度算法估计故障.在此基础上，采用子空间预测控制策略求解一个带有线性矩阵不等式约束的优化问题.对于故障估计下子空间预测控制的最优化问题，构造了一组估计序列，以采用快速梯度算法求解.直升机悬停状态仿真实例表明，本文方法是有效的.

Fast Gradient Algorithm in Subspace Predictive Control under Fault Estimation

This paper proposed novel direct design methods from closed loop measured data to estimate faults and design controllers. When imposing the lower and upper bounds constrain conditions on the faults, a fast gradient method was applied to solve it. Based on fault estimations, the subspace predictive control was proposed to solve an optimization problem with linear matrix inequality constraint. To this optimization problem in the subspace predictive control under fault estimations, a class of estimation sequences were constructed to use the fast gradient method. The helicopter simulation shows that the algorithm proposed is reliable and effective.