基于Optimal Transport的输出PDF辨识与预测控制
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作者单位:

1.中国矿业大学;2.东北大学

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中图分类号:

TP273

基金项目:

国家自然科学基金 [62503479],中国博士后科学基金资助项目[2025M781676],国家资助博士后研究人员计划资助及资助编号[GZC20251186]


Output PDF Identification and Predictive Control Based on Optimal Transport
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Fund Project:

the National Natural Science Foundation of China [grant number 62503479], the China Postdoctoral Science Foundation under [Grant Number 2025M781676],Postdoctoral Fellowship Program of CPSF [GZC20251186]

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    摘要:

    针对一类具有状态时延、输入时延及随机扰动的离散非线性系统,本文研究输出概率密度函数(Probability density function, PDF)的辨识与预测控制问题。针对状态时延、输入时延及随机扰动并存情形,建立增广状态描述下的输出PDF演化模型,并给出满足非负性与归一性的参数化表示。基于Optimal Transport理论,采用 Wasserstein 距离构造输出PDF辨识准则,建立参数更新机制与辨识误差动态,得到辨识误差的有界收敛与渐近收敛条件。在此基础上,设计面向输出PDF跟踪的模型预测控制器,将分布跟踪误差、约束条件与终端稳定性要求纳入统一优化框架。进一步,借助Lyapunov–Krasovskii泛函证明闭环系统在分布意义下渐近稳定或一致最终有界。结果表明,该方法实现了时滞非线性随机系统输出PDF的辨识与控制一体化设计。数值仿真实验和磨矿分级过程数据验证了本文所提方法的有效性和实用性。

    Abstract:

    For a class of discrete-time nonlinear systems with state delays, input delays, and stochastic disturbances, this paper investigates the identification and predictive control of the output probability density function (PDF). To address the coexistence of state delays, input delays, and random disturbances, an output PDF evolution model is established based on an augmented-state description, and a parameterized representation satisfying nonnegativity and normalization is derived. Based on Optimal Transport theory, the Wasserstein distance is employed to construct an identification criterion for the output PDF, and a parameter update mechanism together with the corresponding identification error dynamics is developed, under which conditions for bounded convergence and asymptotic convergence of the identification error are obtained. On this basis, a model predictive controller for output PDF tracking is designed, in which the distribution tracking error, system constraints, and terminal stability requirements are incorporated into a unified optimization framework. Furthermore, by means of a Lyapunov-Krasovskii functional, it is proved that the closed-loop system is asymptotically stable in the distributional sense or uniformly ultimately bounded. The results show that the proposed method achieves an integrated design of identification and control for the output PDF of delayed nonlinear stochastic systems. Numerical simulations and data from a grinding-classification process further verify the effectiveness and practical applicability of the proposed approach. □

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  • 收稿日期:2026-04-27
  • 最后修改日期:2026-08-25
  • 录用日期:2026-08-27
  • 在线发布日期: 2026-09-21
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