摘要
针对一类输入和状态受限的离散线性不确定系统,提出了一种基于Tube不变集的离线鲁棒模型预测控制方法.首先针对输入和状态约束线性时不变标准系统,设计了改进的基于多面体不变集的离线模型预测控制算法,并证明了稳定性.其次对于存在未知有界干扰的实际不确定系统,引入了Tube不变集策略,通过设计对应标准模型的最优控制序列和状态轨迹,给出了实际不确定系统的离线Tube不变集控制策略,保证系统状态鲁棒渐近稳定,并收敛于终端干扰不变集.仿真结果验证了该控制方法的有效性.
A new off-line robust model predictive control（RMPC） method based on Tube invariant set is developed for a discrete-time linear uncertain system with input and state constraints.Firstly,an improved off-line model predictive control（MPC） algorithm with polytopic invariant sets is designed for a LTI（linear time invariant） system with input and state constraints,and then its stability is proved.Secondly,for the real uncertain system with bounded unknown disturbances, the Tube invariant set strategy is introduced;and then by designing the optimal control sequence and state trajectory for the corresponding nominal system,the control law for the real uncertain system,which is so-called off-line RMPC based on Tube invariant set,is presented to guarantee the real uncertain system processing robustly asymptotic stability and converging into the terminal disturbance invariant set.The simulation results prove the availability of the proposed method.
出处
《信息与控制》
CSCD
北大核心
2011年第3期307-312,共6页
Information and Control
基金
国家自然科学基金资助项目(60675005)
关键词
离散不确定系统
Tube不变集
多面体不变集
鲁棒模型预测控制
discrete-time uncertain system
Tube invariant set
polytopic invariant set
robust model predictive control（RMPC）
