约束非线性系统的滑模预测控制方法

将预测控制和滑模控制结构起来，提出一种新的非线性模型预测控制方法，通过对系统状态预测得到切换函数预测值，求解约束开环优化求得预测控制律，并将当前时刻的控制作用于对象，下一时刻重复此过程，该方法具有预测控制在线处理约束及滑模控制滑动模态对干扰的不变性的优点，分析了零终端滑模约束模型预测控制的稳定性。

Sliding Mode Predictive Control Scheme for Constrained Nonlinear Systems

A new nonlinear model predictive control(NLMPC) scheme is proposed, which combines the predictive control and the sliding mode control(SMC). By predicting the system state, the pre-designed switching function is predicted, then the control law can be found by solving constrained open-loop optimal control problem. The current control is implemented, and then the optimizing procedure is repeated at the next sampling time. The proposed scheme, which has advantages of NLMPC and SMC, can deal with system constraints on-line and has strong robustness on the sliding surface. By constraining terminal sliding mode to be zero, the stability of MPC system is analyzed.