摘要
针对具有状态和输入约束的严格反馈非线性系统,提出一种反步设计构造性非线性预测控制算法.利用反步设计法离线构造系统的控制李亚普诺夫函数,进而得到系统的镇定可调控制器即稳定控制类.基于性能指标,滚动优化控制器可调参数,计算满足系统约束的预测控制量.进一步,运用控制李亚普诺夫函数的性质建立闭环系统的稳定性.最后,应用轮式移动机器人的优化控制验证本文结果的有效性.
A backstepping design-based constructive nonlinear predictive control algorithm is proposed for strict feedback nonlinear systems subject to constraints on the state and input.Using backstepping method,the control Lyapunov functions of the system are constructed offline and then stabilized tuning controllers（i.e.class of stable control） of the system are obtained.With performance indexes,the tuning parameter of the controller is optimized movingly and predictive control actions are computed to satisfy the system constraint.Moreover,the properties of control Lyapunov functions are explored to establish the stability of the closed-loop system.Finally,the optimization control of wheeled mobile robots is used to illustrate the effectiveness of the result in this paper.
出处
《信息与控制》
CSCD
北大核心
2011年第3期313-317,共5页
Information and Control
基金
国家自然科学基金资助项目(60904040)
高校博士点专项科研基金资助项目(20093317120002)
安徽省高校省级自然科学基金资助项目(KJ2011A256)
关键词
严格反馈非线性系统
模型预测控制
约束控制
反步设计
稳定性
strict feedback nonlinear system
model predictive control
constrained control
backstepping design
stability
