基于多面体描述系统的鲁棒非线性预测控制

黄骅; 何德峰; 俞立

doi:10.3724/SP.J.1004.2012.01906

基于多面体描述系统的鲁棒非线性预测控制

doi: 10.3724/SP.J.1004.2012.01906

1.
浙江工业大学信息工程学院杭州 310023

详细信息

通讯作者:
何德峰

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- 文章访问数: 1525
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- 被引次数: 0
出版历程
- 收稿日期: 2011-10-18
- 修回日期: 2012-01-10
- 刊出日期: 2012-12-20

Robust Nonlinear Predictive Control Based on Polytopic Description Systems

1.
College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023

摘要

摘要: 针对一类具有持续有界扰动的离散时间非线性系统, 提出一种基于多面体描述系统的鲁棒非线性模型预测控制策略. 首先利用泰勒级数构造多面体描述系统包裹原系统. 其次, 对该多面体描述系统构造鲁棒终端不变集和仿射输入型预测控制律. 进一步, 利用离散系统的输入状态实际稳定性(Input-to-state practical stability, ISpS)概念证明了闭环系统的鲁棒稳定性. 最后, 通过仿真验证了本结果的有效性.
- 非线性模型预测控制 /
- 多面体 /
- 输入状态实际稳定性 /
- 仿射输入
Abstract: This paper presents a robust nonlinear model predictive control (NMPC) scheme based on polytopic description systems for discrete-time systems with bounded persistent disturbances. Firstly, after the nonlinear system is linearized through Taylor series, the polytoptic description system is constructed to include initial system. Secondly, polytopic invariance and predictive control law with affine input are constructed on the polytopic description system. Then, robust stability of the controlled system with the mentioned scheme is achieved by the notion of the input-to-state practical stability (ISpS) for discrete-time system. Numerical simulation demonstrates effectiveness of the proposed scheme.
- Nonlinear model predictive control(NMPC) /
- polytoptic /
- input-to-state practical stability(ISpS) /
- affine input

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参考文献(1)

[1]

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