【作者】 郑鹏远； 席裕庚； 李德伟；

【Author】 Zheng Pengyuan,Xi Yugeng,Li Dewei Institute of automation,Shanghai Jiao Tong University,Shanghai 200240,P.R.China

【机构】 上海交通大学自动化研究所；

【摘要】 针对多包描述的不确定系统,提出一种新的鲁棒约束预测控制器。离线设计时引入参数Lyapunov函数以减少单一Lyapunov函数设计时的保守性,得到多包系统worst-case情况下性能最优的不变集,在线求解多包系统无穷时域性能指标的min-max优化问题。设计采用了时变的终端约束集,扩大了初始可行域,而且能够获得较优的控制性能。仿真结果验证了该方法的有效性。更多还原

【Abstract】 An improved method of synthesizing constrained robust model predictive controller for systems with polytopic description is proposed.It off-line adopts parameter-dependent Lyapunov function reducing the conservativeness corresponding to unique Lyapunov function and constructs invariant sets guaranteeing the optimal performance cost for the worst-case,and on-line solves the min-max optimization problem with infinite horizon performance cost.Consequently,the initial feasible region could be enlarged and better performance is also achieved adopting the time varying terminal constraint set.The effectiveness of the proposed approach is verified by simulation examples.更多还原