【摘要】 针对多包描述线性离散不确定系统,提出一种在系统状态不可测时的直接约束鲁棒预测控制算法.将控制器与观测器综合设计,利用观测状态直接构造性能指标,通过求解无穷时域性能指标的最小最大优化问题,得到系统的最优状态反馈控制律.采用参数依赖Lyapunov函数,在满足输入和状态约束的情况下保证闭环系统稳定.仿真结果验证了算法的有效性.更多还原

【Abstract】 For multi-packet described linear discrete uncertain system,when the state can not be measured,an direct method of constrained robust model predictive control algorithm is proposed.The observer and controller are designed comprehensively,and observed state is used to structure performance index directly.Through solving the min-max optimization problem with infinite horizon performance cost,the system optimal state feedback control law is obtained.When the constrains of input/state is met,the parameter-dependent Lyapunov function are introduced to ensure the closedloop system stability.Simulation examples show the effectiveness of the proposed approach.更多还原