In the wave energy converter (WEC) optimal control problem, the well-developed model predictive control (MPC) faces the trade-off between energy extraction performance and online computation burden when choosing the length of optimization horizon. In this work, a novel MPC problem formulation is proposed, which includes a terminal value function and a terminal constraint set. The terminal value function is derived by further calculating the system trajectory beyond the optimization horizon based on a pre-chosen “rollout” policy, which incorporates more future information and improves energy extraction. The linear reactive control is chosen as the rollout policy, under which a policy improvement theorem of the WEC system is derived. The terminal constraint set is a simple control invariant set that ensures the recursive feasibility of MPC. Extensive simulations show that the proposed reactive rollout MPC can achieve close-to-optimal performance with a very short optimization horizon, reducing the online computation burden significantly.

中文翻译：

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基于Reactive Rollout方法的波浪能转换器新型模型预测控制公式


在波浪能转换器（WEC）优化控制问题中，成熟的模型预测控制（MPC）在选择优化范围长度时面临能量提取性能和在线计算负担之间的权衡。在这项工作中，提出了一种新颖的 MPC 问题公式，其中包括终端值函数和终端约束集。终端价值函数是通过基于预先选择的“推出”策略进一步计算超出优化范围的系统轨迹而得出的，该策略包含更多的未来信息并提高能量提取。选择线性反应控制作为rollout策略，推导出WEC系统的策略改进定理。终端约束集是一个简单的控制不变集，保证了MPC的递归可行性。大量的模拟表明，所提出的反应式推出 MPC 可以在很短的优化范围内实现接近最优的性能，从而显着减少在线计算负担。