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基于鲁棒一步集的Tube不变集鲁棒模型预测控制

DOI: 10.3724/SP.J.1004.2014.01404, PP. 1404-1411

Keywords: 鲁棒模型预测控制,鲁棒一步集,Tube不变集,最小鲁棒正不变集

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Abstract:

?针对一类干扰有界的输入和状态受约束线性离散系统,提出了一种基于鲁棒一步集的Tube不变集鲁棒模型预测控制方法.首先采用多面体不变集离线设计方法得到基于多面体不变集序列的扩展终端约束集;然后为了扩大鲁棒模型预测控制的初始状态允许区域,并提高系统的鲁棒性,在扩展终端约束集的基础上,通过引入鲁棒一步集并借助Tube不变集控制策略,设计了基于鲁棒一步集的鲁棒模型预测控制方法,并给出了算法的存在性和稳定性证明.该方法不仅极大地扩大了初始状态允许区域,而且对有界干扰具有有效的抑制作用,使得受扰系统收敛到以原点为中心的最小鲁棒正不变集内.最后仿真验证了算法的有效性.

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