【摘要】 针对关系度不确定非线性系统,基于模型预测控制理论和切换解析非线性模型预测控制(Nonlinear model predictive control,NMPC)提出了一种非切换的解析NMPC新方法.论证了在非切换解析NMPC控制律下,通过坐标变换可以将闭环系统分别在关系度确定和不确定的两个子空间近似为线性系统,得出非切换解析NMPC使闭环系统稳定的必要条件.通过仿真实验验证了非切换解析NMPC可以达到很好的响应特性,无需切换的特征也扩大了其应用范围.更多还原

【Abstract】 Based on model predictive control theory and the analytic nonlinear model predictive control(NMPC),this paper brings forward an analytic NMPC method for nonlinear systems with ill-defined relative degree.Under our method, the system can be approximated to two linear systems in state spaces whose relative degrees are well-defined or ill-defined, respectively.So the necessary conditions for the closed system’s stabilization are demonstrated.The non-switch analytic NMPC controller is successfully demonstrated by simulation examples.更多还原