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在线优化线性反馈增益的非线性鲁棒预测控制方法 被引量：5

Nonlinear robust model predictive control method with the linear feedback gain being obtained through online optimization
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摘要 以鲁棒控制不变集作为预测控制的终端约束集,设计了一种新的鲁棒预测控制算法.将预测控制在不同采样点的待优化控制律考虑为线性反馈控制律,并通过在线优化求解线性反馈增益.从理论上证明了若采用所设计的鲁棒预测控制器,则系统是输入状态稳定的.最后通过计算机仿真验证了所提出设计方法的可行性. Considering a robust control invariant set as the terminal constraint set of model predictive control（MPC）,a robust MPC is designed.The controller to be optimized of MPC at different sampling time is considered as linear feedback controller.Then,the linear feedback gain is obtained through online optimization.The system is proved to be input-to-state stable by using this robust model predictive controller.Finally,computer simulation shows the feasibility of the proposed method.
作者 王亚锋 张友安 孙富春 刘华平
机构地区 海军航空工程学院自动控制系 清华大学计算机科学与技术系
出处 《控制与决策》 EI CSCD 北大核心 2011年第11期1745-1748,共4页 Control and Decision
基金 国家自然科学杰出青年基金项目(60625304) 国家自然科学基金项目(90716021 60621062) 国家重点基础研究发展计划项目(2007cb311003 2009cb724002)
关键词 非线性鲁棒预测控制 终端约束集 鲁棒控制不变集 线性反馈控制 nonlinear robust MPC terminal constraint set robust control invariant set linear feedback control
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
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参考文献11

  • 1Mayne D Q, Rawlings J B, Rao C V, et al. Constrained model predictive control: Stability and optimality[J]. Automatica, 2000, 36(6): 789-814.
  • 2Alejandro H. Gonzdlez, Darci Odloak. Enlarging the domain of attraction of stable MPC controllers, maintaining the output performance[J]. Automatica, 2009, 45(4): 1080-1085.
  • 3Scokaert P 0 M, Rawlings J B, Meadows E S. Discrete- time stability with perturbations: Application to model predictive control[J]. Automatica, 1997, 33(3): 463-470.
  • 4耿晓军,席裕庚.基于HM非线性模型的滚动时域H_∞控制[J].自动化学报,2000,26(1):68-73. 被引量：5
  • 5Kim K B. Disturbance attenuation for constrained discrete- time systems via receding horizon controls[J]. IEEE Trans on Automatic Control, 2004, 49(5): 797-801.
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  • 8Limon D, Bravo J M, Alamo T, et al. Robust MPC of constrained nonlinear systems based on interval arithmetic[J]. IEE Proc Control Theory Applications, 2005, 152(3): 325-332.
  • 9Bravo J M, Alamo T, Camacho E F. Robust MPCof constrained discrete-time nonlinear systems based on approximated reachable sets[J]. Automatica, 2006, 42(10): 1745-1751.
  • 10Limon D, Alamo T, Salas F, et al. Input to state stability of min-max MPC controllers for nonlinear systems with bounded uncertainties[J]. Automatica, 2006, 42(5): 797- 803.

二级参考文献15

  • 1[1]Joe Q S,Badgwell T A.A survey of industrial model predictive control technology.Control Engineering Practice,2003,11(7):733-764
  • 2[2]Mayne D Q,Rawlings J B,Rao C V,Scokaert P O M.Constrained model predictive control:stability and optimality.Automatica,2000,36(6):789-814
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  • 7[7]Chen H,Scherer C W,Allgower F.A game theoretic approach to nonlinear robust receding horizon control of constrained systems.In:Proceedings of American Control Conference.New Mexico,USA:IEEE,1997.3073-3077
  • 8[9]Magni L,Nijmeijer H,der Van Schaft A J.A recedinghorizon approach to the nonlinear H∞ control problem.Automatica,2001,37(3):429-435
  • 9[10]Magni L,Scattolini R.Control design for nonlinear systems:trading robustness and performance with the model predictive control approach.IEE Proceedings Control Theory and Applications,2005,152(3):333-339
  • 10[13]Limon D,Alamo T,Salas F,Camacho E F.Input to state stability of min-max MPC controllers for nonlinear systems with bounded uncertainties.Automatics,2006,42(5):797-803

共引文献18

同被引文献51

引证文献5

二级引证文献12

控制与决策
2011年 第11期

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