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针对一类受持续有界扰动且具有多胞型表示的约束线性时变系统,当系统状态不可测且扰动边界未知时,给出了基于线性扩张状态观测器与输出反馈Tube鲁棒模型预测控制策略的最优输出跟踪控制器设计方法。该方法首先应用基于集员滤波的扩张状态观测器对系统状态、扰动及其边界进行联合在线估计;其次根据估计结果将输出跟踪问题转化为对虚拟平衡状态跟踪误差系统的鲁棒镇定问题;最后基于跟踪误差模型结合Tube可达集鲁棒模型预测控制策略,设计系统的最优鲁棒跟踪控制律,确保系统闭环输出鲁棒渐近跟踪期望轨迹。仿真结果表明所提控制算法可以很好地消除扰动设定边界与真实边界失配的影响,保证对期望输出的鲁棒跟踪,验证了其有效性。
For a class of constrained linear time-varying systems with continuous bounded perturbations and multi-cell representations, when the system state is not measurable and the perturbation boundary is unknown, a robust predictive control based on linear extended state observer and output feedback tube Strategy Optimal Output Tracking Controller Design Method. In this method, a set-filter-based extended state observer is used to estimate the system state, perturbation and boundary of the system simultaneously. Secondly, the output tracking problem is transformed into a robust stabilization problem for the system with virtual equilibrium tracking error. Finally, Based on the tracking error model combined with Tube Reachability Set robust model predictive control strategy, the optimal robust tracking control law of the system is designed to ensure that the system closed-loop output robust asymptotic tracking desired trajectory. The simulation results show that the proposed algorithm can effectively eliminate the influence of the disturbance boundary and the real boundary mismatch, and ensure the robust tracking of the expected output. The validity of the proposed algorithm is verified.