多时滞不确定非线性系统的鲁棒预测控制

Robust Predictive Control of Uncertain Nonlinear Systems with Multiple Time Delays

对于一类非线性不确定系统,分别考虑时变和多时滞不确定的情况,讨论其鲁棒预测控制设计问题在"最小-最大"的性能指标下,根据时滞选择了相关的Lyapunov函数,并采用了变量变换的思想和LMI方法,近似求解无穷时域的优化问题,将系统考虑分段连续的情况,解决了反复在线优化的可行性问题,保证了闭环系统的鲁棒稳定.最后通过仿真实例,验证了算法的有效性.

As to the A-class of nonlinear uncertain systems, delay should be taken into consideration to discuss the design of Max-Min, the relevant Lyapunov function should be and LMI method are adopted. Similar to the solution piecewise continuous should be taken into consideration the situation of time change and uncertain multiple time issue of robust predictive control. In the performance index chosen based on time delay. The idea of variable transformation of optimization issue in infinite time domain, the situation of of system to solve the feasibility of repeated online optimization to ensure the robust stability in closed-loop system. Finally, the effectiveness of the formuh is proved through simulation example.