| 引用本文: | 周卫东,郑兰,廖成毅,蔡佳楠.多重时滞离散非线性系统的鲁棒预测控制[J].哈尔滨工业大学学报,2015,47(9):24.DOI:10.11918/j.issn.0367-6234.2015.09.005 |
| ZHOU Weidong,ZHENG Lan,LIAO Chengyi,CAI Jianan.Robust prediction control for multiple time delay discrete nonlinear system[J].Journal of Harbin Institute of Technology,2015,47(9):24.DOI:10.11918/j.issn.0367-6234.2015.09.005 |
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| 摘要: |
| 为解决一类同时存在多重状态时滞、输入时滞和非线性扰动的不确定离散非线性系统的控制问题,提出一种具有状态反馈控制结构的鲁棒模型预测控制器设计方法. 首先,充分利用时滞的上下界信息构造一个改进的二次Lyapunov-Krasovskii泛函；其次,利用线性矩阵不等式(LMI)方法将min-max最优化求解困难的问题转化成具有LMI约束的凸优化问题,并给出鲁棒预测控制器存在的充分条件及其表达式. 理论证明该方法设计的控制器保证闭环系统鲁棒渐进稳定. 仿真算例验证了所提出方法的有效性. |
| 关键词: 非线性扰动 时滞 不确定性 状态反馈 模型预测控制 线性矩阵不等式 |
| DOI：10.11918/j.issn.0367-6234.2015.09.005 |
| 分类号:TP273 |
| 基金项目:国家自然科学基金(7,8). |
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| Robust prediction control for multiple time delay discrete nonlinear system |
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ZHOU Weidong, ZHENG Lan, LIAO Chengyi, CAI Jianan
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(College of Automation, Harbin Engineering University, 150001 Harbin, China)
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| Abstract: |
| In this paper, a robust model prediction controller with state-feedback structure is constructed for a class of uncertain discrete nonlinear systems with multiple states time-delay, inputs time-delay and nonlinear perturbation. Firstly, an improved quadratic Lyapunov-Krasovskii functional is constructed by making full use of the upper and lower bounds of the time-delay information, and then the difficulty of solving min-max optimization problem is transformed into convex optimization problem with linear matrix inequality (LMI) constraints by utilizing LMI technique. Simultaneously, the sufficient conditions for the existence of robust predictive controller and the expression of the controller are given. Theoretically, it is proved that the designed controller can guarantee the closed-loop system is asymptotically stable. Finally, simulation results demonstrate the feasibility of the proposed scheme. |
| Key words: time-delay nonlinear perturbation uncertain state-feedback model prediction control liner matrix inequalities (LMIs) |
