摘要
针对一类约束不确定性非线性仿射系统,提出一种可保证闭环系统鲁棒镇定的非线性模型预测控制算法.利用鲁棒控制Lyapunov函数得到改进的Sontag公式,并以此为基础,构造一种计算有效的单自由度鲁棒预测控制器.以Matlab语言为仿真工具,对一开环不稳定振荡器进行了仿真研究,结果表明,利用该控制算法得到的闭环系统不仅渐近稳定于原点,而且所得控制量和系统状态都满足系统约束,从而验证了控制算法的有效性.
For a class of nonlinear affine systems subject to constraints and uncertainties,a nonlinear model predictive control algorithm is proposed to guarantee the robust stabilization of the closed-loop system.The modified Sontag formula is made via robust control Lyapunov function,which is used to construct computationally efficient robust predictive controller with single degree of freedom.The open-loop unstable oscillator is simulated by the tool of Matlab language,which shows that the closed-loop control system by the control algorithm can not only asymptotic stabilize to the origin,but also the control action and system state satisfy the system constraints.The effectiveness of the control algorithm is then verified.
出处
《控制与决策》
EI
CSCD
北大核心
2010年第11期1752-1756,共5页
Control and Decision
基金
国家自然科学基金项目(60904040)
国家863计划项目(2007AA04Z195)
安徽省高校自然科学研究项目(KJ2009B029)
关键词
模型预测控制
非线性约束系统
计算效率
鲁棒控制Lyapunov函数
鲁棒镇定
Model predictive control
Constrained nonlinear systems
Computational efficiency
Robust control Lyapunov function
Robust stabilization
