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针对一类带有扰动、输入约束和凸多面体不确定性的区间时滞离散非线性系统,提出一种鲁棒模型预测控制方法.一方面,利用min-max模型预测控制求解鲁棒模型预测控制器,以研究鲁棒预测控制在范数有界意义下的扰动抑制问题;另一方面,充分利用时滞的上下界信息构造Lyapunov函数以得到控制器存在的充分条件.最后给出了闭环系统鲁棒稳定性证明.
For a class of discrete-time discrete-time nonlinear systems with perturbation, input constraints and convex polyhedron uncertainty, a robust model predictive control method is proposed. On the one hand, min-max model predictive control is used to solve the robust model predictive control In order to study the perturbation suppression problem of robust predictive control in the norm-bounded sense, on the other hand, the Lyapunov function is fully utilized by using the upper and lower bound information of delay to obtain sufficient conditions for the existence of a controller. Finally, a closed-loop system Proof of robust stability.