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针对一类状态和输入受约束的多胞不确定线性时变系统,提出了一种基于多面体不变集的变终端约束集鲁棒模型预测控制算法。首先采用基于状态反馈增益的多面体不变集计算方法,给出了一种新的控制不变集序列构造方法,然后以控制不变集序列的并集作为终端约束集,结合在线优化和增益切换,实施变终端约束集双模鲁棒预测控制。该算法不仅有效地扩大了终端约束集,而且采用离线方式计算不变集序列降低了在线运算量。最后仿真结果验证了算法的有效性。
Aiming at a class of multi-cell uncertain linear time-varying systems with inputs and constraints, a robust terminal control model based on polytope matrix invariant set is proposed. Firstly, a new method to construct a control invariant set sequence is proposed based on the state feedback gain-based polytope invariant set method. Then, the union set of the invariant set sequences is used as the terminal constraint set. Combined with online optimization and gain switching , The implementation of variable terminal constraints set dual-mode robust predictive control. The algorithm not only effectively expands the terminal constraint set, but also reduces the amount of online computation by calculating invariant set sequences offline. Finally, the simulation results verify the effectiveness of the algorithm.