具有主动协方差分配的随机模型预测控制
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1.江西财经大学;2.同济大学

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T

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Stochastic Model Predictive Control with Active Covariance Allocation
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    摘要:

    本文针对受加性随机扰动驱动的线性离散系统,研究具有多面体约束的随机模型预测控制(SMPC)问题。针对原优化问题中机会约束的非凸性,利用坎特利不等式(Cantelli''s Inequality)与变量替换技术将其转化为二阶锥约束,并结合成本函数与终端约束的二次型重构,实现了闭环优化控制问题的近似凸化。在此基础上,提出一种终端协方差主动分配策略,通过参数化设计状态反馈增益与终端方差,实现对系统状态分布的显式调控,有效克服了传统设计中动态性能与稳定性的隐式耦合,显著提升了闭环性能。此外,针对加性无界扰动,本文基于标称状态演化建立了算法的递归可行性理论保证,并推导了控制成本的期望上界,从理论层面保障了系统在随机扰动下的稳定性。最后,理论分析与数值仿真验证了所提方法在严格满足机会约束与降低控制保守性方面的优越性,为随机系统的MPC提供了一套系统且高效的设计框架。

    Abstract:

    This paper investigates the stochastic model predictive control (SMPC) problem with polyhedral constraints for linear discrete-time systems subject to additive stochastic disturbances. To address the non-convexity of the chance constraints in the original optimization problem, Cantelli''s inequality and variable substitution techniques are employed to transform them into second-order cone (SOC) constraints. Combined with the convex quadratic reformulation of the cost function and terminal constraints, an approximate convexification of the closed-loop optimal control problem is achieved. On this basis, an active terminal covariance allocation strategy is proposed. By parameterizing the state feedback gain and terminal covariance, this strategy enables the explicit regulation of the system state distribution. This effectively overcomes the implicit coupling between dynamic performance and stability inherent in traditional designs, thereby significantly improving the closed-loop performance. Furthermore, to handle additive unbounded disturbances, a theoretical guarantee of recursive feasibility is established based on the nominal state evolution. An expected upper bound on the control cost is also derived, theoretically ensuring the stability of the closed-loop system under stochastic disturbances. Finally, theoretical analysis and numerical simulations verify the superiority of the proposed method in strictly satisfying chance constraints and reducing control conservatism, providing a systematic and efficient design framework for the MPC of stochastic systems.

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  • 收稿日期:2026-03-07
  • 最后修改日期:2026-06-02
  • 录用日期:2026-06-03
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