基于鲁棒控制Lyapunov 函数的非线性预测控制

针对一类约束不确定性非线性仿射系统,提出一种可保证闭环系统鲁棒镇定的非线性模型预测控制算法.利用鲁棒控制Lyapunov函数得到改进的Sontag公式,并以此为基础,构造一种计算有效的单自由度鲁棒预测控制器.以Matlab语言为仿真工具,对一开环不稳定振荡器进行了仿真研究,结果表明,利用该控制算法得到的闭环系统不仅渐近稳定于原点,而且所得控制量和系统状态都满足系统约束,从而验证了控制算法的有效性.

Nonlinear predictive control based on robust control Lyapunov function

For a class of nonlinear affine systems subject to constraints and uncertainties, a nonlinear model predictive
control algorithm is proposed to guarantee the robust stabilization of the closed-loop system. The modified Sontag formula is
made via robust control Lyapunov function, which is used to construct computationally efficient robust predictive controller
with single degree of freedom. The open-loop unstable oscillator is simulated by the tool of Matlab language, which shows
that the closed-loop control system by the control algorithm can not only asymptotic stabilize to the origin, but also the
control action and system state satisfy the system constraints. The effectiveness of the control algorithm is then verified.