| 引用本文: | 秦伟伟,马建军,刘刚,郑志强.一类干扰有界约束非线性系统的鲁棒模型预测控制[J].控制理论与应用,2011,28(5):709~714.[点击复制] |
| QIN Wei-wei,MA Jian-jun,LIU Gang,ZHENG Zhi-qiang.Robust model-predictive-control for a constrained nonlinear system with bounded disturbance[J].Control Theory and Technology,2011,28(5):709~714.[点击复制] |
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| 一类干扰有界约束非线性系统的鲁棒模型预测控制 |
| Robust model-predictive-control for a constrained nonlinear system with bounded disturbance |
| 摘要点击 2024 全文点击 2109 投稿时间：2009-12-02 修订日期：2010-06-03 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.5.CCTA091554 |
| 2011,28(5):709-714 |
| 中文关键词 干扰有界约束非线性系统 鲁棒模型预测控制 不变集 连续搅拌反应釜 |
| 英文关键词 constrained nonlinear system with bounded disturbance robust model predictive control invariant set continuously stirring tank reactor(CSTR) |
| 基金项目 国家自然科学基金资助项目(60675005). |
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| 中文摘要 |
| 针对一类干扰有界约束非线性系统设计了基于控制不变集切换策略的鲁棒模型预测控制算法. 针对非线性系统线性化之后的结果, 给出了平衡点的非线性标称系统控制不变集的计算方法. 然后在考虑线性化误差和加性有界干扰影响的基础上, 构造了平衡点附近最小鲁棒正不变集. 结合不变集切换策略和Tube不变集控制方法, 提出了干扰有界约束非线性系统的不变集切换策略. 最后将该算法应用到一类典型的非线性化工过程连续搅拌反应釜(CSTR)中, 仿真结果验证了算法的有效性. |
| 英文摘要 |
| For a constrained nonlinear system with bounded disturbance, we develop a new robust model predictive controller(MPC) based on the switching strategy of control-invariant set. Firstly, we propose for the nominal nonlinear system an algorithm for calculating the control-invariant set through linearizing the nonlinear system around the equilibrium point. Secondly, considering the effect of linearization errors and additive bounded disturbances, we determine the minimal robust positively invariant set around the equilibrium point. The robust MPC algorithm is then developed for the constrained nonlinear system with bounded disturbances, based on the switching strategy of the control-invariant set and the control strategy of the Tube-invariant set. The method is tested in a typical nonlinear continuously stirring tank reactor(CSTR); the results show the feasibility of the proposed method. |