基于控制系统直接方法的非线性系统预见控制器设计

针对一类非线性离散时间系统给出最优预见控制器设计方法. 首先运用非线性控制系统直接控制方法的思想, 将非线性反馈部分作为形式输入, 使得系统成为“形式上”的线性系统; 然后, 针对该线性系统, 利用最优预见控制的基本方法设计最优预见控制器; 最后, 利用形式输入与实际输入的关系得到非线性离散时间系统的最优预见控制器. 证明了如果形式线性系统满足一定的可镇定和可检测条件, 则闭环系统是渐近稳定的. 数值仿真结果表明了控制器的有效性.

Design of a preview controller for nonlinear systems based on the control system directly method

In this paper, an optimal preview controller design method for a type of nonlinear discrete-time control systems is proposed. Firstly, based on the idea of the direct control method of nonlinear control system, the part of nonlinear feedback is taken as the formal input in order to make the nonlinear system into a“formal”linear system. Then, for this linear system, an optimal preview controller is designed by using the basic methods in the optimal preview control. Finally, by the application of the relationship between the formal input and actual input, the optimal preview controller for the nonlinear discrete-time system is obtained. It is also proved that the close-loop system is asymptotically stable if the formal linear system satisfies the stabilization and detectable conditions. The simulation results show the effectiveness of the proposed controller.