%0 Journal Article
%T Dual-Mode Robust Predictive Control for Nonlinear Systems: aSwitching Method Between Polyhedral Invariant Sets<br>非线性系统双模鲁棒预测控制: 不变集切换方法
%A Zhao Min
%A Li Shaoyuan
%A <br>赵敏
%A 李少远
%J 系统科学与数学
%D 2007
%I 
%X A Robust predictive control algorithm for a class of nonlinear systems subject to input and state constraints is proposed based on invariant set switch.The trajectories of the nonlinear system are embedded within those of a bank of Linear Parameter Varying uncertain systems via a so called Piece-Wise Embedding scheme at first. Then, the equilibrium surface of the nonlinear system is obtained by caculation, and for each LPV embedding model a polyhedral invariant set corresponding to the equilibrium point is constructed. Then finite invariant sets overlapped each other are obtained. These invariant sets cover the equilibrium surface such that the closed-loop stability of the nonlinear system can be guaranteed by switching the control laws according to the current state. Compared with the traditional nonlinear predictive control, this algorithm is computationally efficient because most of the problems are solved offline, so that the online computational burden can be greatly reduced.
%K Constrained nonlinear system
%K Robust predictive control
%K LPV embedding
%K linear matrix inequality
%K semi-definite programming
%K polyhedral invariant set<br>约束非线性系统
%K 鲁棒预测控制
%K LPV蕴含
%K 线性矩阵不等式
%K 半定规划
%K 多面体不变集
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=37F46C35E03B4B86&jid=0CD45CC5E994895A7F41A783D4235EC2&aid=047AAF40ACF4AF0A&yid=A732AF04DDA03BB3&vid=DB817633AA4F79B9&iid=38B194292C032A66&sid=683005D16807E4FE&eid=389106FB36CA8332&journal_id=1000-0577&journal_name=系统科学与数学&referenced_num=0&reference_num=28