线性变参数系统抗扰动鲁棒模型预测控制

Anti-Disturbance Robust Model Predictive Control of Linear Variable Parameter System

持续有界扰动影响线性变参数系统的稳定性控制,采用基于多面体集的线性变参数系统抗扰动鲁棒模型预测控制算法可扩大系统的控制可行域,实现系统的稳定控制,并减少在线运算量。考虑系统扰动影响和参数不确定性,离线算法得到一系列不变多面体集和对应的控制律。在线算法根据受扰动状态变量在多面体不变集中的位置,在相应离线控制律的凸包内优化出的实际控制律,得到系统的控制输入量。给出算法的详细实施步骤和算法稳定性的证明。通过仿真对比验证算法的有效性,所提出的算法可以实现有界干扰的线性变参数系统控制的快速性和稳定性。

Continuous bounded disturbances affect the stability control of linear variable parameter systems,so the use of an anti-disturbance robust model predictive control of linear variable parameter system based on polyhedron set can expand the control feasible range of the system,realize the stable control of the system,and reduce the computation burden.Considering the effects of system disturbances and the uncertainty of system parameters,the offline algorithm obtains a series of invariant polyhedral sets and corresponding control laws.According to the position of the disturbed state variable in the invariant polyhedral sets,the actual control law is optimized in the convex hull of the corresponding offline control laws,and the control input of the system is obtained.The detailed implementation steps of the algorithm and the proof of the stability of the algorithm are given.The effectiveness of the proposed algorithm is verified by simulation comparison,and the algorithm can achieve the rapidity and stability of linear variable parameters with bounded disturbances.