有界丢包网络环境下不确定系统的预测控制

Predictive control of uncertain systems under networked environment with bounded packet loss

研究了有界丢包网络环境下的多包不确定系统的鲁棒预测控制.首先在构建无限时域性能代价函数时,不同于传统预测控制方法,只考虑成功数据传输序列,并由此提出了两种鲁棒预测控制方法:将无限时域控制作用参数化为一个状态反馈控制律;或参数化为一个自由控制作用接一个状态反馈控制律.与传统方法一样,采用性能代价函数作为Lyapunov函数证明了系统的闭环稳定性.仿真实例验证了此方法的有效性.

Robust model predictive control （MPC） for networked polytopic uncertain systems with packet loss is addresed. Unlike the traditional approach, when an infinite horizon performance cost is constructed, the sequence of the successful data transmissions is only considered. Two techniques are presented, one is parameterizing the infinite horizon control into a state feedback law, the other is into a free control followed by the single state feedback law. Like the traditional approach, the performance cost is utilized as the Lyapunov function to prove colsed-looped stability. A simulation example shows the effectiveness of the proposed techniques.