时变非线性不确定系统H∞鲁棒模型预测控制

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。

H∞ robust model predictive control of time-varying nonlinear uncertain systems

An H_∞ robust model predictive control strategy is proposed for time-varying uncertain nonlinear systems subject to input constraints. The provided uniform bound of linearized system matrices, the non-convex programming problem is converted into a convex one with LMI constraints, which decreases the computational complexity of controllers. The receding horizon principle and the H_∞ control method are used to minimize performance indexes on-line, and the close-loop system satisfies the performance and constraints. The method solving nonlinear model predictive control(NMPC) and the sufficient condition guaranteeing robust stability of NMPC are derived in form of LMIs. A simulation example verifies the effectiveness of the proposed strategy.