带终端滑模约束的非线性模型预测控制方法

将预测控制和滑模控制结合起来，提出一种非线性性模型预测控制方法。给出一种可行的双模控制方案，系统状态位于终端区外时采用提出的预测控制，在终端区内部采用高线设计的滑模控制。对系统终端滑模附加不等式约束，使得系统状态在预测时域的末端位于高线设计的滑动模态区内，从而使预测时域减小。仿真结果表明了算法的有效性。

Nonlinear Model Predictive Control Scheme with Terminal Sliding Mode Constraint

A nonlinear model predictive control scheme combining predictive control and sliding mode control is proposed as the dual mode control. The presented model predictive controller is implemented when system state is outside the terminal region, and sliding mode controller designed off line is used inside the region. By constraining the terminal sliding mode with an inequality, the system terminal state is forced into the pre designed sliding mode region, which makes predictive horizon short greatly. The closed loop stability of the resulting dual model control system is proved, and furthermore the system performance is analyzed. Simulation results show the effectivity of the proposed algorithm.