%0 Journal Article
%T Robust model-predictive-control for a constrained nonlinear system with bounded disturbance<br>一类干扰有界约束非线性系统的鲁棒模型预测控制
%A QIN Wei-wei
%A MA Jian-jun
%A LIU Gang
%A ZHENG Zhi-qiang
%A <br>秦伟伟
%A 马建军
%A 刘刚
%A 郑志强
%J 控制理论与应用
%D 2011
%I 
%X For a constrained nonlinear system with bounded disturbance, we develop a new robust model predictive controller(MPC) based on the switching strategy of control-invariant set. Firstly, we propose for the nominal nonlinear system an algorithm for calculating the control-invariant set through linearizing the nonlinear system around the equilibrium point. Secondly, considering the effect of linearization errors and additive bounded disturbances, we determine the minimal robust positively invariant set around the equilibrium point. The robust MPC algorithm is then developed for the constrained nonlinear system with bounded disturbances, based on the switching strategy of the control-invariant set and the control strategy of the Tube-invariant set. The method is tested in a typical nonlinear continuously stirring tank reactor(CSTR); the results show the feasibility of the proposed method.
%K constrained nonlinear system with bounded disturbance
%K robust model predictive control
%K invariant set
%K continuously stirring tank reactor(CSTR)<br>干扰有界约束非线性系统
%K 鲁棒模型预测控制
%K 不变集
%K 连续搅拌反应釜
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=1BB91820E52BE1C168B90E2D7EA8E79D&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=6452E1221020E61F&eid=C4B91B15F1F73E7E&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=13