持续有界扰动下的非线性H_∞鲁棒预测控制

Nonlinear H_∞ Robust Predictive Control with Bounded Persistent Disturbances

针对未知但有界的持续扰动,提出了一种约束非线性H_∞鲁棒预测控制策略.首先,引入离散系统的输入状态稳定性概念;其次,采用仿射输入定义预测控制的控制律,并给出相应终端约束集的估计解法.进一步,得到预测控制闭环系统的鲁棒稳定性结论.最后,数值仿真验证了上述策略的有效性.

The paper presents an H∞ robust model predictive control （MPC） scheme for constrained nonlinear systems subject to unknown but bounded persistent disturbances. Firstly, the notion of the input-to-state stability （ISS） for discrete-time systems is introduced; secondly, an affine input is defined to serve as the control action of MPC and an estimate solution of its terminal constrained set is addressed. Then, the robust stability of the controlled system with the mentioned scheme is achieved. Finally, a numerical simulation demonstrates the effectiveness of the proposed scheme.