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基于不变集理论 ,拓展了Chiscil等人提出的约束不变预测控制方法 (IC PC) ,提出了一种适用于带约束多面体不确定线性系统的预测控制的框架 .其关键在于为针对标称系统设计的在线优化问题附加适当的额外的鲁棒可行约束 .若优化问题在初始阶段可行 ,则此约束可保证在线优化问题始终可行 ,从而保证了实际系统中约束条件的始终满足 .同时提出了闭环系统鲁棒稳定的一个充分条件 ,可为成本函数的选择提供指导以保证预测控制器的鲁棒镇定 .
Based on the invariant set theory, the constrained invariant predictive control method (IC PC) proposed by Chiscil et al. Is expanded and a framework of predictive control applicable to the uncertain linear system with constrained polyhedron is proposed. The key point is that for the nominal When the optimization problem is feasible in the initial stage, this constraint can ensure that the online optimization problem is always feasible, so as to ensure that the constraints in the real system are always satisfied. At the same time, A sufficient condition for the closed-loop system to be robust and stable can provide guidance for the selection of the cost function to ensure the robust stabilization of the predictive controller.