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以有界干扰非线性系统为研究对象,设计一种基于近似可达集的鲁棒预测控制方法.该方法以鲁棒控制不变集作为终端约束集,采用一种简单的三次多项式逼近预测控制的待优化控制律,通过在线优化求解三次多项式的各项系数,并从理论上证明了所设计的鲁棒预测控制律可以使系统输入状态稳定.最后通过仿真实例验证了所提出的鲁棒预测控制方法的可行性和有效性.
In this paper, a robust predictive control method based on approximate reachable sets is designed for the bounded disturbed nonlinear system. The robust control invariant set is used as the terminal constraint set. A simple cubic polynomial approximation predictive control The optimal control law is optimized and the coefficients of cubic polynomial are solved by on-line optimization. It is also proved theoretically that the robust predictive control law can stabilize the input state of the system. Finally, the simulation results show that the proposed robust prediction Feasibility and effectiveness of control methods.