Predictive Control of High-Order Fully Actuated Nonlinear Systems with Time-Varying Delays  

作　　者：LIU Guo-Ping 

机构地区：[1]Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen 518055,China

出　　处：《Journal of Systems Science & Complexity》2022年第2期457-470,共14页系统科学与复杂性学报（英文版）

基　　金：This research was supported in part by the National Natural Science Foundation of China under Grant Nos.62173255 and 62188101.

摘　　要：This paper investigates the control problem of high-order fully actuated nonlinear systems with time-varying delays in the discrete-time domain.To make the compensation for time-varying delays concise,active and universal,a novel nonlinear predictive control method is proposed.The designed nonlinear predictive controller can achieve the same expected control performance as the nonlinear systems without delays.At the same time,the necessary and sufficient conditions for the stability of the closed-loop nonlinear predictive control systems are derived.Numerical examples show that the proposed nonlinear predictive controller design method can completely compensate for the time-varying delays of nonlinear systems.

关 键 词：High-order fully actuated control systems nonlinear systems predictive control timevarying delays 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]