自动化学报2012，Vol.38Issue(12)：1906-1912,7.DOI:10.3724/SP.J.1004.2012.01906
基于多面体描述系统的鲁棒非线性预测控制
Robust Nonlinear Predictive Control Based on Polytopic Description Systems
摘要
Abstract
This paper presents a robust nonlinear model predictive control (NMPC) scheme based on polytopic description systems for discrete-time systems with bounded persistent disturbances. Firstly, after the nonlinear system is linearized through Taylor series, the polytoptic description system is constructed to include initial system. Secondly, polytopic invariance and predictive control law with affine input are constructed on the polytopic description system. Then, robust stability of the controlled system with the mentioned scheme is achieved by the notion of the input-to-state practical stability (ISpS) for discrete-time system. Numerical simulation demonstrates effectiveness of the proposed scheme.关键词
非线性模型预测控制/多面体/输入状态实际稳定性/仿射输入Key words
Nonlinear model predictive control (NMPC)/ polytoptic/ input-to-state practical stability (ISpS)/ affine input引用本文复制引用
黄骅,何德峰,俞立..基于多面体描述系统的鲁棒非线性预测控制[J].自动化学报,2012,38(12):1906-1912,7.基金项目
国家自然科学基金(60904040),高校博士点基金(20093317120002),浙江省自然科学基金(Y1100911)资助 （60904040）
