输入非线性系统的两步法预测控制的鲁棒稳定性

Robust Stability of Two-step Predictive Control for Systems with Input Nonlinearities

针对具有不确定性和输入饱和约束的H amm erste in模型,采用两步法预测控制器,首先不考虑约束、非线性和不确定性,得到一个期望的中间变量.然后通过求解非线性代数方程组来处理非线性并通过解饱和来满足约束.采用Lyapunov方法得到了指数稳定条件,并给出了吸引域的计算和调整方法.最后通过仿真实例验证了稳定性结果.

For Hammerstein model with uncertainty and input saturation constraint, a two-step model predictive control technique is adopted. The first step calculates a desired intermediate variable without considering the constraint, nonlinearity and uncertainty. The second step deals with nonlinearity by solving nonlinear algebraic equations and satisfies constraint by desaturation. Lyapunov method is applied to obtain the exponential stability conditions, with the approaches for calculating and tuning the domain of attraction given. The stability results are validated with a simulation example.