一类跟踪问题中的非线性预测控制方法设计

The Design of Nonlinear Model Predictive Control Method in a Kind of Tracking Problem

针对非线性系统对若干稳定期望输出点的跟踪问题，沿稳定期望输出点序列，将跟踪问题处理为分段镇定问题，设计了分段预测控制器，采用镇定问题中的稳定性理论对每一阶段的稳定性进行了分析，在此基础上，得到了整个跟踪过程的稳定性条件。仿真结果显示了所设计预测控制器的跟踪效果。

For the tracking problem to several expected output points of nonlinear system, the stepped model predictive control （MPC） was designed by virtue of the transformation of tracking problem to stepped stabilization problem along the expected output points series. The stability in each step was analysed by using the stability theory in stabilization problem. Then, the stability condition of the whole tracking process was presented. The simulation result showed the tracking effect of using the proposed model predictive controller.