Target trajectory generator for predictive control of nonlinear systems using extended Kalman filter
US7987145B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 19, 2008 |
| Grant date | Jul 26, 2011 |
| Priority date | — |
| Expiry date | Apr 11, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B13/048
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A model predictive controller (MPC) for predictive control of nonlinear processes utilizing an EKF (Extended Kalman Filter) and a nominal trajectory generator. The nominal trajectory generator includes another instance of EKF, a linear corrector, and a time-varying deviation model. A nominal control trajectory can be predicted and an optimal solution for the time-varying deviation model can be computed based on an approximation of a system inverse known as signal de-convolution. The EKF can be utilized to estimate a current process state by supplying a measured output and to predict a future nominal trajectory by supplying a reference output. A Kalman smoother can also be utilized for the signal de-convolution in order to obtain enhanced trajectory estimates.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.