执行器饱和受限不确定系统的次序优化多步预测控制.PDFVIP

第32 卷 第8 期 控 制 与 决 策 Vol.32 No.8 2017 年 8月 Control and Decision Aug. 2017 文章编号: 1001-0920(2017)08-1499-06 DOI: 10.13195/j.kzyjc.2016.0601 执行器饱和受限不确定系统的次序优化多步预测控制 张浪文, 谢 巍 (1. 华南理工大学自动化科学与工程学院, 广州510640 ； 2. 华南理工大学自主系统与网络控制教育部重点实验室，广州510640) 摘 要: 设计一种次序优化机制, 提出一类饱和受限不确定系统的次序优化多步预测控制方法. 将系统的输入分 解成多个子集合, 在各采样周期仅对其中一个集合的输入进行优化, 待优化的输入保持上一优化值. 针对每个输 入集合, 确定闭环系统的不变集条件,将次序优化预测控制器设计问题转化成“最小-最大”优化问题, 通过求解一 组线性矩阵不等式问题得到控制器. 仿真算例表明, 采用次序优化预测控制方法可以减少控制器的设计时间. 关键词: 饱和受限；不确定系统；次序优化；预测控制 中图分类号: TP273 文献标志码: A Multi-step predictive control for input-saturated uncertain systems based on sequential optimization scheme ZHANG Lang-wen, XIE Wei (1. College of Automation Science and Technology，South China University of Technology，Guangzhou 510640，China ； 2. Key Laboratory of Autonomous Systems and Networked Control of Ministry of Education，South China University of Technology，Guangzhou 510640，China) Abstract: This paper presents a multi-step predictive control algorithm for input saturated systems by designing a sequential optimization scheme. The control inputs are divided into several subsets, and only one subset of inputs are optimized at each time instant. The inputs that are not optimized at the current instant remains the latest optimized one. For each input set, a set invariance condition is identified, and the multi-step predictive controller design problem is transformed into a “min-max ”optimization problem. The multi-step predictive controller is obtained by solving linear matrix inequalities(LMIs). The simulation results show that the proposed multi-step predictive control algorit