MIMO系统滑模控制的快速抗饱和预测补偿算法

Fast Anti-windup Predictive Compensation Control for MIMO System Based on Sliding Mode Control

针对控制执行器存在约束的多输入多输出(MIMO)系统的控制问题,基于滑模控制方法,提出了一种新的快速抗饱和预测补偿算法.首先建立了输入受限系统的无约束等效增广模型,然后基于控制量变化速率有界的假设,设计补偿控制量的有限空间搜索策略,减少了预测寻优干扰,缩小了寻优空间,并从决策上保证了控制系统的保性能滚动优化.该方法物理意义明确,广泛适用于线性和非线性时不变系统.仿真结果表明,该方法能够有效改善输入受约束系统的控制性能,具有内存占用量和运算量小的特点.

For the control of a multiple-input multiple-output （MIMO） system with actuator constraint, we propose a new fast anti-windup predictive compensation control algorithm based on the sliding mode control method. First, we construct the equivalent unconstrained augmented model of the system with input constraint. Then, based on the assumption that the control effort＇s change rate is bounded, we design the strategy of the search- ing compensation control effort in the bounded region. It reduces the disturbance in predictive optimization, compresses the optimization space, and ensures rolling optimization with guaranteed cost. The proposed meth- od has distinct physical meaning, and it applies to both linear and nonlinear time invariable systems. Simula- tion results show that the proposed method can improve the control performance of a system with input con- straints, and possesses such characteristics as less memory occupation and calculation.