约束非线性系统切换鲁棒预测控制

Switching robust model-predictive-control strategy for constrained nonlinear system

中文关键词  约束非线性系统  鲁棒预测控制  多LPV蕴含  参数Lyapunov函数  切换策略

英文关键词  constrained nonlinear systems  robust predictive control  multi-LPV embedding  parameter dependent Lyapunov function  switching strategy

中文摘要

      采用“分段蕴含”(PWE)方法, 用一组线性变参数模型(LPV)近似约束非线性系统, 降低模型近似的保守性. 对每个LPV模型引入参数Lyapunov函数, 得到稳定的控制律, 并施加于非线性系统. 当检测到LPV模型发生切换时, 根据可行域的离线设计方法确定适当的切换律, 使系统按照设定的规则切换, 保证切换后的初始状态可行. 在文章最后给出了基于切换策略的控制算法的可行性和稳定性. 与传统非线性预测控制相比, 基于切换策略的鲁棒预测 控制方法保守性更低, 计算量更小.

英文摘要

      By adopting the piece-wise embedding scheme, we use a set of linear parameter-varying(LPV) models to approximate a nonlinear system subject to input and state constraints. For each embedding model, a parameter-dependent Lyapunov function is used to obtain the stable control law for the nonlinear system. When the LPV model is switched from one to the other, the switching law, which is obtained by using an off-line design approach, is used to guarantee the feasibility of the initial state at the switching point. In the last part of this paper, we prove the feasibility and stability of this switching control algorithm. The switching robust model-predictive-control strategy is less conservative than the traditional nonlinear predictive control and will greatly reduce the online computational burden.