时变非线性不确定系统H_∞鲁棒模型预测控制  

H_∞ robust model predictive control of time-varying nonlinear uncertain systems

作　　者：何德峰[1] 黄骅[1] 余世明[1] 

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《控制与决策》2014年第12期2265-2270,共6页Control and Decision

基　　金：国家自然科学基金项目(61374111);浙江省自然科学基金项目(LY13F030006);国家科技支撑计划子课题(2012BAH38F01-02)

摘　　要：针对输入受限的时变不确定非线性系统,提出一种H∞鲁棒模型预测控制策略.假设线性化系统矩阵一致有界,将非凸的无穷时域优化问题转化为带有单个线性矩阵不等式(LMI)约束的凸优化问题,降低控制量求解难度.结合滚动优化原理与H∞控制方法在线极小化性能指标,使得闭环系统满足控制性能和约束.在LMI框架下给出H∞NMPC的求解方法及其鲁棒稳定性充分条件.仿真实验对比验证了该策略的有效性.AnH∞robust model predictive control strategy is proposed for time-varying uncertain nonlinear systems subject to input constraints. The provided uniform bound of linearized system matrices, the non-convex programming problem is converted into a convex one with LMI constraints, which decreases the computational complexity of controllers. The receding horizon principle and theH∞control method are used to minimize performance indexes on-line, and the close-loop system satisfies the performance and constraints. The method solving nonlinear model predictive control（NMPC） and the sufficient condition guaranteeing robust stability of NMPC are derived in form of LMIs. A simulation example verifies the effectiveness of the proposed strategy.

关 键 词：时变非线性系统 模型预测控制 鲁棒稳定性 H∞控制 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]