一类不确定系统基于滑模干扰补偿的广义预测控制

The sliding mode disturbance compensated GPC method for a class of uncertain systems

中文关键词  非线性不确定系统  广义预测控制  滑模干扰补偿器  非线性鲁棒控制

英文关键词  nonlinear uncertain system  generalized predictive control  sliding mode disturbance compensator  nonlinear robust control

中文摘要

      广义预测控制(GPC)是基于非线性机理模型的一种优化控制策略, 但当系统存在内部不确定性、建模动态误差和外部干扰的情况下, 采用基于标称系统模型的GPC方法的系统性能将显著下降. 为此, 针对一类不确定非线性系统, 首先分析设计了一种基于不确定模型的理想GPC控制律; 同时设计了一种滑模干扰补偿器(SMDC)对系统的复合干扰进行估计, 将其输出作为补偿控制与标称GPC控制律结合以消除不确定性和外干扰的影响, 并利用Lyapunov理论分析了闭环复合系统的性能; 最后将其应用于一种高超声速飞行器(HSV)姿态控制系统, 仿真结果表明该方法具有很好的鲁棒特性和干扰衰减特性.

英文摘要

      The generalized predictive control(GPC) method is an optimal control strategy which is based on the mechanism model. However, if the system has internal uncertainty, model error and external disturbance, the performance of the system which is controlled by the GPC method based on the nominal model will be degraded. Therefore, to deal with the uncertain nonlinear systems, we first design the ideal GPC law based on uncertain model, and then, we develop a slidingmode disturbance compensator(SMDC) to estimate the hybrid disturbance, its outputs are integrated with the nominal GPC law to compensate the uncertainty. The Lyapunov theory is used to analyze the stability of the compound closed-loop system. This strategy was applied to the design of a hypersonic vehicle attitude control system, and the simulation result indicates an excellent robust performance and desirable disturbance attenuation.