%0 Journal Article
%T Constrained Predictive Control for Nonlinear Switched Systems with Uncertainty<br>具有不确定性的非线性切换系统的约束预测控制
%A SU Bai-Li
%A LI Shao-Yuan
%A <br>苏佰丽
%A 李少远
%J 自动化学报
%D 2008
%I 
%X In this paper,a Lyapunov-based constrained predictive controller is proposed for a kind of nonlinear switched systems with uncertainty and constraints for the cases that the state constraints need to be enforced at all times(hard constraints)and they can be relaxed for some time(soft constraints).The main idea is to design a Lyapunov-based limited controller and a predictive controller for each subsystem,also a suitable switched law to stablize the closed-loop subsystem,and provide an explicitly characterized set of initial conditions.For the whole switched system,a suitable switched law is designed to ensure:1)the state of the closed-loop system,at the time of the transition,resides in the stability region of the mode that the system is switched into;2)the Lyaptmov function for each mode is nonincreasing wherever the mode is reactivated,thereby guaranteeing the stability.For the case where the state constraints are soft, we propose a control strategy for each subsystem such that the state is driven into the stabilization region,then the closed-loop system is stablized by the controller defined in the stabilization region.
%K Switched system
%K control constraint
%K state constraint
%K Lyapunov-based limited control
%K model predictive control(MPC)
%K stable region<br>切换系统
%K 输入约束
%K 状态约束
%K 基于Lyapunov的有界控制
%K 模型预测控制
%K 稳定区域
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=6E3F04FA85E7AAD00C5FDDF44609314C&yid=67289AFF6305E306&vid=339D79302DF62549&iid=9CF7A0430CBB2DFD&sid=39B73ADA6F3DD05F&eid=008520E0B52E94B3&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=15