论文标题
重新访问无限视野离散时间最佳控制中阶段成本的推导
Revisiting the derivation of stage costs in infinite horizon discrete-time optimal control
论文作者
论文摘要
在许多最佳控制的应用中，阶段成本不是固定的，而是一种设计选择，对控制性能有很大影响。在无限的地平线最佳控制中，阶段成本的选择通常受到统一的成本可控性的要求，这是不足以满足的。在这里，我们重新审视了舞台成本设计的先前提出的建设性技术。我们概括其设置，削弱所需的假设并增加额外的灵活性。此外，我们表明所需的假设本质上不能再削弱了。通过为舞台成本提供改进的设计选项，这项工作有助于扩大基于优化的控制方法的适用性，特别是模型预测性控制。
In many applications of optimal control, the stage cost is not fixed, but rather a design choice with considerable impact on the control performance. In infinite horizon optimal control, the choice of stage cost is often restricted by the requirement of uniform cost controllability, which is nontrivial to satisfy. Here we revisit a previously proposed constructive technique for stage cost design. We generalize its setting, weaken the required assumptions and add additional flexibility. Furthermore, we show that the required assumptions essentially cannot be weakened anymore. By providing improved design options for stage costs, this work contributes to expanding the applicability of optimization-based control methodologies, in particular, model predictive control.
