Sontag型构造性预测控制算法的性能分析

Sontag型构造性预测控制策略是为了降低约束非线性预测控制的在线计算量和分离闭环系统稳定性与性能指标而提出的一种有效算法。在算法名义稳定的条件下,运用逆最优控制理论,分析约束连续时间非线性系统Sontag型预测控制器的逆最优性和鲁棒性问题,得到控制器具有鲁棒性的充分条件,为更好地理解该控制算法和算法的实施提供了理论依据。最后,应用仿真实例验证了本文结论的有效性。

Performance analysis of Sontag-type constructive predictive control algorithm

Sontag-type constructive predictive control scheme is an efficient algorithm to reduce the on-line computational load of constrained nonlinear predictive control and to decouple the stability of closed-loop systems from the optimality of performance indexes.By employing inverse optimized control theory，the issues of inverse optimality and robustness of the controller are discussed for continuous-time，constrained nonlinear systems.Then the sufficient condition of robustness of the controller is established under the condition that the scheme is nominal stability.This will help to understand the control algorithm and provide the theoretical basis for its application.Finally，a simulation example is used to demonstrate the effectiveness of the result in the paper.