摘要
针对干扰有界的线性离散系统,提出了事件触发的鲁棒预测控制算法。首先,采用紧约束方法设计系统的鲁棒预测控制优化问题;然后,根据求解优化问题得到的一组最优控制律序列,为后续多个时刻构造满足优化问题约束条件的鲁棒可行控制律序列;最后,根据输入-状态稳定性理论,得出保证系统鲁棒稳定的事件触发条件,从而完成事件触发鲁棒预测控制器的设计。仿真结果表明了事件触发条件的有效性,以及本文算法在减少系统计算量方面的优越性。
This paper proposes an event-triggered robust model predictive control algorithm for the linear discrete system with addictive bounded disturbances. Firstly, the robust predictive control optimization problem is designed by utilizing the constraint tightening method. And then, based on the sequence of optimal control law, the feasible control law is derived for the subsequent instants. Besides,the event trigger condition is obtained by means of input-state stability theory. Finally, the simulation results illustrate the effectiveness of the proposed event-trigger conditions, whose can reduce the computation complexity.
出处
《华东理工大学学报（自然科学版）》
CAS
CSCD
北大核心
2015年第4期515-522,共8页
Journal of East China University of Science and Technology
基金
国家自然科学基金(61273073
61374107)
上海市优秀技术带头人(14XD1420900)
中央高校基本科研业务费专项资金
关键词
鲁棒预测控制
紧约束
输入-状态稳定性
事件触发条件
robust model predictive control
constraint tightening
input-state stability
event trigger condition
