基于H_∞控制的非线性鲁棒预测控制

Nonlinear Robust Predictive Control Based on H_∞ Control

针对一类不确定时滞非线性系统,提出一种可保证系统渐进稳定的鲁棒H∞状态反馈控制律设计算法。对给定的非线性系统,提出假设并证明该系统具有鲁棒H∞性能;利用Riccati不等式、鲁棒控制Lyapunov稳定性定理和H∞理论,得到系统渐进稳定和状态反馈H∞控制器存在的充分条件;最后通过具体仿真实验说明了设计方案的有效性。

For a class of uncertain time-delay nonlinear systems,a robust H∞ state feedback control law design algorithm is proposed to guarantee the asymptotical stability of systems.For a given nonlinear system,some assumptions are presented and the system is proved which has robust H∞ performance.The sufficient conditions of the system asymptotical stability and the state feedback H∞ controller are gotten by using the Riccati inequality,robust control Lyapunov stability theorem and H∞ theory.Finally,numerical simulations show the effectiveness of the design scheme.