基于参数李雅普诺夫函数的鲁棒预测控制器

郑鹏远;席裕庚;李德伟

系统科学与数学 ›› 2008, Vol. 28 ›› Issue (9) : 1065-1076.

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PDF(515 KB)
系统科学与数学 ›› 2008, Vol. 28 ›› Issue (9) : 1065-1076. DOI: 10.12341/jssms10174
论文

基于参数李雅普诺夫函数的鲁棒预测控制器

    郑鹏远, 席裕庚, 李德伟
作者信息 +

Robust Model Predictive Controller Based on Parameter-Dependent Lyapunov Function

    ZHENG Pengyuan, XI Yugeng, LI Dewei
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文章历史 +

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.

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 by adopting the time varying terminal constraint set. The effectiveness of the proposed approach is verified by simulation examples.

关键词

鲁棒预测控制 / 不变集 / 时变终端约束集 / 线性矩阵不等式 / 参数李雅普诺夫函数.

Key words

Robust model predictive control / invariant set / time-varying terminal constraint set / linear matrix inequalities / parameter-dependent Lyapunov function.

引用本文

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郑鹏远 , 席裕庚 , 李德伟. 基于参数李雅普诺夫函数的鲁棒预测控制器. 系统科学与数学, 2008, 28(9): 1065-1076. https://doi.org/10.12341/jssms10174
ZHENG Pengyuan , XI Yugeng , LI Dewei. Robust Model Predictive Controller Based on Parameter-Dependent Lyapunov Function. Journal of Systems Science and Mathematical Sciences, 2008, 28(9): 1065-1076 https://doi.org/10.12341/jssms10174
中图分类号: 93D09   
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