控制理论与应用2025，Vol.42Issue(7)：1303-1312,10.DOI:10.7641/CTA.2024.40020
椭圆型Tube的输出反馈鲁棒MPC终端约束集合设计
Design on terminal constraint sets for ellipsoidal tube-based output feedback robust MPC
摘要
Abstract
For constrained linear time-invariant systems with bounded disturbances and noises,this paper investigates the design methods on terminal constraint sets for ellipsoidal tube-based output feedback robust model predictive control(RMPC).For the off-line terminal constraint sets,by constructing the invariant set for the closed-loop nominal system,and imposing the constraints of upper bounds on terminal constraint sets,different sizes of terminal constraint sets are designed.For the on-line terminal constraint sets,real-time optimized and scaled terminal constraint sets are respectively considered.In the on-line output feedback RMPC optimization,the real-time estimation errors and control errors are constrained within time-varying robust positively invariant sets,and the nominal control input sequence is receding horizon optimized to steer the nominal system state to converge into different types of terminal constraint sets.Furthermore,the impacts of different types of terminal constraint sets on the computational burden,feasibility,and the control performance of the on-line output feedback RMPC optimizations are compared and analyzed.关键词
模型预测控制/输出反馈/鲁棒控制/终端约束集合Key words
model predictive control/output feedback/robust control/terminal constraint set引用本文复制引用
彭丹华,李向宁,平续斌..椭圆型Tube的输出反馈鲁棒MPC终端约束集合设计[J].控制理论与应用,2025,42(7):1303-1312,10.基金项目
国家自然科学基金项目(61403279),陕西省自然科学基金面上项目(2020JM-190)资助.Supported by the National Natural Science Foundation of China(61403279)and the General Program of Provincial Natural Science Fund of Shaanxi(2020JM-190). （61403279）
