非線形システムに対する予測ガバナの設計と自動走行制御への応用

抄録

This paper focuses on the control of dynamic systems under the case that actual reference signals can not be available in real time. In such case, although a predicted value values are used as reference signal, the prediction errors degrades the control performance of the systems. To this problem, the previous work has presented the prediction governor which shapes predicted values.However, the previous result can not be applied to non-linear systems. Motivated by this, this paper addresses the design problem of prediction governors for input affine non-linear systems. Then, we analytically derived an optimal prediction governor which is characterized by plant models. Furthermore, we applied it to the automatic cruise control problem, and its usefulness is illustrated by a numerical example.