Tube‐based robust nonlinear model predictive control
Tube‐based robust nonlinear model predictive control
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DOI：
10.1002/rnc.1758
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发表时间：
2011-07
影响因子：
3.9
通讯作者：
D. Mayne;E. Kerrigan;E. V. Wyk;P. Falugi
中科院分区：
文献类型：
--
作者：
D. Mayne;E. Kerrigan;E. V. Wyk;P. Falugi
本文扩展了线性系统的基于管的模型预测控制，以实现受加性扰动的非线性系统的鲁棒控制。通过解决标称最优控制问题来确定中心轨迹或参考轨迹。用于基于管的线性系统鲁棒控制中的局部线性控制器被辅助模型预测控制器所取代，该控制器迫使受扰系统的轨迹位于以参考轨迹为中心的管中，从而实现不确定非线性系统的鲁棒控制。版权所有 © 2011 约翰·威利父子有限公司
This paper extends tube‐based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube‐based robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory thereby enabling robust control of uncertain nonlinear systems to be achieved. Copyright © 2011 John Wiley & Sons, Ltd.