基于多面体描述系统的鲁棒非线性预测控制

摘要

针对一类具有持续有界扰动的离散时间非线性系统,提出一种基于多面体描述系统的鲁棒非线性模型预测控制策略.首先利用泰勒级数构造多面体描述系统包裹原系统.其次,对该多面体描述系统构造鲁棒终端不变集和仿射输入型预测控制律.进一步,利用离散系统的输入状态实际稳定性(Input-to-state practical stability,ISpS)概念证明了闭环系统的鲁棒稳定性.最后,通过仿真验证了本结果的有效性.%This paper presents a robust nonlinear model predictive control (NMPC) scheme based on polytopic description systems for discrete-time systems with bounded persistent disturbances. Firstly, after the nonlinear system is linearized through Taylor series, the polytoptic description system is constructed to include initial system. Secondly, polytopic invariance and predictive control law with affine input are constructed on the polytopic description system. Then, robust stability of the controlled system with the mentioned scheme is achieved by the notion of the input-to-state practical stability (ISpS) for discrete-time system. Numerical simulation demonstrates effectiveness of the proposed scheme.