不确定离散时滞系统的输出反馈鲁棒预测控制

Robust model predictive control for uncertain discrete time-delay systems via dynamic output feedback

对一类输入输出受限的不确定离散时滞系统,研究了使得闭环系统渐近稳定且滚动时域性能指标在线最小化的鲁棒预测输出反馈控制器设计问题.基于预测控制的滚动优化原理,给出了输出反馈控制器存在的充分条件.采用锥补线性化思想将控制器的设计转化为一个受线性矩阵不等式(LMI)约束的非线性规划问题,并利用该线性矩阵不等式的可行解给出了输出反馈控制器的构造方法.最后通过仿真验证了该方法的有效性.

The design problem of robust output feedback model predictive controllers is considered which guarantees that the closed-loop system is asymptotically stable and an on-line receding horizon guaranteed cost is minimized for a class of uncertain discrete time-delay systems with I/O constrains. Firstly, the condition for the existence of the output feedback controller is derived by using the receding optimization. The complementary linearization idea is then employed to convert the controller design into a nonlinear programming problem with linear matrix inequality constraints, and a construction of the desired controllers is also provided in terms of feasible solutions to the LMIs. Finally, the simulation results illustrate the effectiveness of the proposed methods.