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 1528  全文点击 1918  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).
作者单位E-mail
秦伟伟 国防科技大学 机电工程与自动化学院
第二炮兵工程学院 自动控制工程系 
qww_1982@163.com 
马建军 国防科技大学 机电工程与自动化学院  
刘刚 第二炮兵工程学院 自动控制工程系  
郑志强 国防科技大学 机电工程与自动化学院  
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.