不确定滞后系统的鲁棒模型预测控制

ROBUST MODEL FOR PREDICTIVE CONTROL OF UNCERTAIN SYSTEMS WITH TIME-DELAY

对于输入受约束的离散不确定滞后系统,提出鲁棒模型预测控制方法,其中不确定性存在于系统的状态矩阵和输入矩阵当中,且满足范数有界条件。用LMI解决滞后系统的不确定性和约束,针对滞后系统给出了新的鲁棒性能指标上界和系统稳定的充分条件,通过求解LMI凸优化得到状态反馈控制律,对提出的方法进行了数字仿真研究,结果表明,基于 LMI约束不确定滞后系统的鲁棒模型预测控制易于求解,适于实际应用。

A robust model predictive control method is proposed for discrete-time uncertain time-delay systems with input constrains, where the uncertainties that satisfy the so-called norm-bound conditions exist in state matrices and input matrices. The uncertainty and constraints of time-delay systems are solved in terms of linear matrix inequalities (LMIs). The sufficient conditions of stability and a new upper bound on the robust performance index are presented for time-delay systems. The feedback control law is obtained by convex optimization involving LMIs. The digital simulation for the proposed method is performed. It is shown that, based on LMI constraints, it is easy to get the robust model predictive control for the uncertain time-delay systems and is suitable for practical applications.