含有非解析子模块的非线性系统控制

Control of Nonlinear Systems with Non-analytical Modules

针对模型中含有非解析子模块的非线性系统,提出了一种预测控制的设计方法。首先建立了与传统广义预测控制(Generalized predictive control,GPC)的联系,探讨了针对含有非解析子模块的非线性系统控制对性能指标的选取原则,并由此推导出了最优预测控制器,并进一步讨论了控制器的实施问题。由于所提出的设计方法不需要对非线性系统求逆,因此具有较低的计算复杂度。对两节机械手臂的仿真研究验证了所提出的设计方法的有效性。

A predictive control method is proposed for handling the nonlinear systems with non-analytical modules.Firstly,the link with conventional generalized predictive control is established and the criterion for performance optimization is discussed.The optimal predictive control signal is then obtained with detailed discussion on the implementation issues.Since the proposed method does not require the inverse operation of the nonlinear systems,it possesses the advantage of low computational complexity.The method is finally validated through its application to a two-link robotic manipulator.