一种基于衰减集结的鲁棒预测控制器  

An Amplitude Decaying Aggregation Based Robust Model Predictive Controller

作　　者：李德伟 席裕庚 

机构地区：[1] Department of Automation, Shanghai Jiaotong University, Shanghai 200240, China

出　　处：《自动化学报》2008年第1期48-54,共7页Acta Automatica Sinica

基　　金：国家自然科学基金(60474002，60674041);国家高技术研究发展计划(863计划)(2006AA04Z173)资助~~

摘　　要：高效鲁棒预测控制(ERPC)是一种在线计算量较小,且控制性能较好的鲁棒预测控制算法.但采用单一椭圆不变集的设计方法存在保守性.本文采用衰减集结策略,通过离线设计在系统状态空间中投影彼此正交的两个椭圆不变集,在线进行凸组合的方法设计ERPC控制器,使系统初始可行域进一步扩大,并在一定程度上改善了控制性能.Efficient robust predictive control （ERPC） is a robust model predictive control （MPC） algorithm which has low online computation burden and good control quality. But the past design methods of ERPC are conservative, which adopt one invariant ellipsoidal set. In this paper, a new design method of ERPC controller is proposed. Based on the amplitude decaying aggregation, we offline design two invariant ellipsoidal sets whose projections are vertical in the system state space and online design the two ellipsoids with convex combination. The new controller has a larger origin attraction region and can improve the control quality to some extent.

关 键 词：模型预测控制 高效鲁棒预测控制器 衰减集结 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]