基于仿射控制输入的输入状态稳定非线性预测控制

针对有扰动的约束非线性系统,提出了一种基于仿射控制输入的反馈预测控制策略.采用无穷范数定义有限时域代价函数,对其进行极大极小优化得到预测控制律,并应用输入状态稳定分析了闭环系统的鲁棒稳定性,同时还给出了确定容许扰动上界的方法.最后,数值仿真说明本文的预测控制策略是有效的.

Input-to-state stabilizing nonlinear model-predictive-control based on affine control input

The paper is concerned with a feedback model-predictive-control(MPC) scheme based on an affine control input for constrained nonlinear systems with disturbances. The control actions of MPC can be obtained by solving a min-max optimal problem of a finite horizon cost-function defined by an infinite norm. The robust stabilization of the closed-loop system is analyzed by the notion of input-to-state stability(ISS), and the determination of the upper bound of admissible disturbance is addressed. Finally, a numerical simulation shows the effectiveness of the MPC scheme.