Dual-Mode Robust Predictive Control for Nonlinear Systems: aSwitching Method Between Polyhedral Invariant Sets
非线性系统双模鲁棒预测控制: 不变集切换方法

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.