信息与控制2011，Vol.40Issue(3)：307-312,6.DOI:10.3724/SP.J.1219.2011.00307
一类离散不确定系统的Tube不变集离线鲁棒模型预测控制
Off-line RMPC Based on Tube Invariant Set for a Discrete-Time Uncertain System
摘要
Abstract
A new off-line robust model predictive control (RMPC) method based on Tube invariant set is developed for a discrete-time linear uncertain system with input and state constraints. Firstly, an improved off-line model predictive control (MPC) algorithm with polytopic invariant sets is designed for a LTI (linear time im ariant) system with input and state constraints, and then its stability is proved. Secondly, for the real uncertain system with bounded unknown disturbances, the Tube invariant set strategy is introduced; and then by designing the optimal control sequence and state trajectory for the corresponding nominal system, the control law for the real uncertain system, which is so-called off-line RMPC based on Tube invariant set, is-presented to guarantee the real uncertain system processing robustly asymptotic stability and converging into the terminal disturbance invariant set. The simulation results prove the availability of the proposed method.关键词
离散不确定系统/Tube不变集/多面体不变集/鲁棒模型预测控制Key words
discrete-time uncertain system/ Tube invariant set/ polytopic invariant set/ robust model predictive control (RMPC)分类
信息技术与安全科学引用本文复制引用
秦伟伟,马建军,郑志强,刘刚..一类离散不确定系统的Tube不变集离线鲁棒模型预测控制[J].信息与控制,2011,40(3):307-312,6.基金项目
国家自然科学基金资助项目(60675005). （60675005）
