一类输入时滞系统的鲁棒预测控制器的设计

针对一类不确定离散输入时滞系统,研究了使得闭环系统稳定,在预测时域内性能指标在线最小化的鲁棒预测控制器的设计问题.将预测时域后的性能指标函数用终端惩罚项近似,将无限时域性能指标函数转换成有限时域性能指标函数;基于滚动优化原理,将预测时域内的控制项用自由项代替,直接求取当前时刻的控制量,扩大可行解的范围,提高控制性能.通过求解线性矩阵不等式方法求解控制器.最后的仿真实例证明了该算法的有效性.

Design of Robust Receding Horizon Controller for A Class of Uncertain Discrete Linear Systems with Input-Delay

A Receding Horizon Controller is designed for a class of uncertain discrete linear systems with input-delay.The stability of closed-loop system is studied,and on-line minimization of performance criterion in finite horizon is guaranteed.The infinite horizon cost is transformed to a finite horizon one by approximating the robust performance criterion after terminal time with penalty.Based on the receding horizon control theory,all the control moves in predictive horizon are taken as free control moves,and th...