具有执行器饱和特性和未知扰动的时变时滞系统鲁棒预测控制  

Robust predictive control for time-varying delay systems with actuator saturation and unknown disturbances

作　　者：何超群 蔡宏斌 胡小龙 He Chaoqun;Cai Hongbin;Hu Xiaolong(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《南京理工大学学报》2024年第3期318-327,共10页Journal of Nanjing University of Science and Technology

基　　金：辽宁省博士科研启动基金(2021-BS-246);辽宁省教育厅自然科学类青年科技人才“育苗”项目(2020LNQN22)。

摘　　要：针对具有执行器饱和特性和未知扰动的时变时滞离散系统,提出一种混合H 2/H∞指标的鲁棒模型预测控制方法。首先,用凸组合方法对执行器饱和特性进行变换,很大程度上降低了处理执行器饱和特性的复杂度,并且构造了依赖时变时滞上下界的Lyapunov-Krasovskii泛函。其次,通过Lyapunov稳定性理论,研究了混合H 2/H∞鲁棒模型预测控制在范数有界意义下的扰动抑制问题,得到了混合H 2/H∞鲁棒模型预测控制器存在的充分条件。最后,进行仿真对比,结果表明提出的方法具有很强的鲁棒性和良好的应用价值。A hybrid H 2/H∞index robust model predictive control(RMPC)method is proposed for a class of time-varying delay discrete systems with actuator saturation characteristics and unknown disturbances.Firstly,the saturation characteristics of actuators are transformed by convex combination method,which greatly reduces the complexity of dealing with the saturation characteristics of actuators.A Lyapunov-Krasovskii functional is constructed that depends on the upper and lower bounds of time-varying delays.Secondly,the disturbance rejection problem of the hybrid H 2/H∞RMPC in the sense of norm boundedness is studied by using Lyapunov stability theory.The sufficient conditions for the existence of the robust model predictive controller with hybrid H 2/H∞index are obtained.Finally,the simulation results show that the proposed method has strong robustness and good application value.

关 键 词：执行器饱和 时变时滞 扰动抑制 H 2/H∞性能指标 鲁棒模型预测控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]