约束时变不确定离散系统的输出反馈预测控制综合

Synthesizing Output Feedback Predictive Control for Constrained Uncertain Time-Varying Discrete Systems

研究多包描述系统的离线型输出反馈预测控制.已有一方法首先综合状态反馈预测控制,满足输入/状态约束;而在设计观测器时,不再考虑输入/状态约束.本文则首先给出观测器,并给出一组不等式条件使得真实状态、观测状态和观测误差都保持在同一个椭圆内部,以便采用线性矩阵不等式处理输入/状态约束.基此,本文离线计算一椭圆序列,每个椭圆对应一控制律和一观测器,而在线的实时控制律和观测器则从该序列中选择,使得闭环系统具有稳定性保证.仿真例子说明了本文方法的有效性.

This paper addresses the off-line output feedback predictive control for systems with polytopic description. An existing method first synthesizes state feedback predictive control satisfying input/state （I/S） constraints. However, in designing the state observer, the I/S constraints have not been reconsidered. This paper, on the contrary, gives the state observer a priori, and presents a set of inequalities to keep the true state, observer state and observation error within the same ellipsoid, such that I/S constraints can be dealt with by linear matrix inequalities. Based-on this idea, it off-line calculates a sequence of ellipsoids, each corresponding to a control law and an observer. The on-line real-time control law and observer are selected from the sequence, such that stability is guaranteed for the closed-loop system. The simulation example shows the effectiveness of the new technique.