基于混合系统模型的非线性系统最大可控不变集求解

Maximal Robust Controlled Invariant Set of Nonlinear System Based on Hybrid Systems Model

针对非线性系统线性化在状态约束下最优鲁棒控制求解问题,提出了一种基于混合系统的分段仿射系统(PWA)建模,通过多次优化迭代的方法求解系统的最大鲁棒控制不变集的方法,并求得不变集内的最优控制器,解决系统的状态约束问题。通过一个非线性系统实例进行建模、仿真,证明了本方法的可行性。

To solve the robust control optimization problem of nonlinear system by states constraint, this paper proposed a method that obtains a maximal robust controlled invariant sets by optimal iteration method based on a piecewise affine system model （PWA）. The optimization controller was computed to solve the problem of constraints. A nonlinear system example was modled and simulated, the result proves the validity of the method.