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针对输入受限的时变不确定非线性系统,提出一种H∞鲁棒模型预测控制策略.假设线性化系统矩阵一致有界,将非凸的无穷时域优化问题转化为带有单个线性矩阵不等式(LMI)约束的凸优化问题,降低控制量求解难度.结合滚动优化原理与H∞控制方法在线极小化性能指标,使得闭环系统满足控制性能和约束.在LMI框架下给出H∞NMPC的求解方法及其鲁棒稳定性充分条件.仿真实验对比验证了该策略的有效性.
Aiming at the input constrained nonlinear uncertain systems with time-varying uncertainties, a robust control strategy for H∞ robust systems is proposed. Assuming that the linearized system matrices are uniform and bounded, the non-convex infinite time-domain optimization problem is transformed into a linear matrix with a single linear matrix (LMI) constrained convex optimization problem and reduce the difficulty of solving the control variables.On the basis of rolling optimization theory and H∞ control method online minimization of performance index, the closed-loop system satisfies the control performance and constraints.In the LMI framework given H∞NMPC And the sufficient conditions for its robust stability.The simulation results verify the effectiveness of this strategy.