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| 一类离散不确定系统的Tube不变集离线鲁棒模型预测控制 | |
| 引用本文： | 秦伟伟,马建军,郑志强,刘刚.一类离散不确定系统的Tube不变集离线鲁棒模型预测控制[J].信息与控制,2011,40(3). |
| 作者姓名： | 秦伟伟 马建军 郑志强 刘刚 |
| 作者单位： | 1. 国防科学技术大学机电工程与自动化学院,湖南长沙410073;第二炮兵工程学院,陕西西安710025 2. 国防科学技术大学机电工程与自动化学院,湖南长沙,410073 3. 第二炮兵工程学院,陕西西安,710025 |
| 摘 要： | 针对一类输入和状态受限的离散线性不确定系统,提出了一种基于Tube不变集的离线鲁棒模型预测控制方法.首先针对输入和状态约束线性时不变标准系统,设计了改进的基于多面体不变集的离线模型预测控制算法,并证明了稳定性.其次对于存在未知有界干扰的实际不确定系统,引入了Tube不变集策略,通过设计对应标准模型的最优控制序列和状态轨迹,给出了实际不确定系统的离线Tube不变集控制策略,保证系统状态鲁棒渐近稳定,并收敛于终端干扰不变集.仿真结果验证了该控制方法的有效性. |
| 关 键 词： | 离散不确定系统 Tube不变集 多面体不变集 鲁棒模型预测控制 |
Off-line RMPC Based on Tube Invariant Set for a Discrete-Time Uncertain System |
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| QIN Weiwei,MA Jianjun,ZHENG Zhiqiang,LIU Gang.Off-line RMPC Based on Tube Invariant Set for a Discrete-Time Uncertain System[J].Information and Control,2011,40(3). | |
| Authors: | QIN Weiwei MA Jianjun ZHENG Zhiqiang LIU Gang |
| Affiliation: | QIN Weiwei~(1,2),MA Jianjun~1,ZHENG Zhiqiang~1,LIU Gang~2 (1.College of Machtronics Engineering and Automation,National University of Defense Technology,Changsha 410073,China,2.The Second Artillery Engineering College,Xi'an 710025,China) |
| Abstract: | A new off-line robust model predictive control(RMPC) method based on Tube invariant set is developed for a discrete-time linear uncertain system with input and state constraints.Firstly,an improved off-line model predictive control(MPC) algorithm with polytopic invariant sets is designed for a LTI(linear time invariant) system with input and state constraints,and then its stability is proved.Secondly,for the real uncertain system with bounded unknown disturbances, the Tube invariant set strategy is introduc... |
| Keywords: | discrete-time uncertain system Tube invariant set polytopic invariant set robust model predictive control(RMPC) |
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