摘要
针对一类具有附加有界扰动的约束离散时间分段仿射(PWA)系统,提出一种扩大其鲁棒模型预测控制吸引域的新方法.计算系统的最大鲁棒正不变集以及相关的局部稳定控制律.基于最大鲁棒正不变集,通过多参数规划,采用一步预测时域来离线计算一序列具有收缩性质的鲁棒可稳定集,构成收缩序列集,并将它们作为优化问题的预测状态终端约束集.得到的预测控制器可以鲁棒调节收缩序列集内的状态到鲁棒正不变集,从而确保系统的鲁棒稳定,并扩大了鲁棒预测控制的吸引域.通过数值实例验证了方法的有效性.
Aimed at a class of constrained discrete-time piecewise affine (PWA) systems with addictive bounded disturbances, a new method for enlarging the domain of attraction of robust model predictive control (MPC) was presented. The maximal robust positively invariant set and the associated local stable control law were computed. Based on the maximal robust positively invariant set, a contractive sequence of robust stabilizable sets were computed off-line using multi-parametric programming with one-step predictive horizon. By considering this sequence as terminal constraint of predictive states in the optimization problem, the resulting controller can robustly steer the states in the contractive sequence of sets to the maximal robust positively invariant set. Hence the stability and the enlargement of domain of attraction of robust predictive control were guaranteed. A numerical example showed the validity of the proposed method.
出处
《浙江大学学报(工学版)》
EI
CAS
CSCD
北大核心
2009年第11期2012-2016,共5页
Journal of Zhejiang University:Engineering Science
基金
浙江省科技计划攻关资助项目(2006C21010)
关键词
分段仿射系统
模型预测控制
多参数规划
鲁棒不变集
吸引域
piecewise affine system
model predictive control
invariant set
domain of attraction the validity of the proposed method. multi-parametric programming
robust