The controller utilizes neural network as predictive model and COA as online optimization.It can avoid calculating the complicated gradient and the inverse matrix in the nonlinear predictive control.

• 该控制器以神经网络作为预测模型，混沌优化算法作为滚动优化策略，避免了非线性预测控制中复杂的梯度计算和矩阵求逆问题。