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| 基于可达集的鲁棒模型预测控制 | |
| 引用本文： | 王亚锋,孙富春,张友安,刘华平.基于可达集的鲁棒模型预测控制[J].信息与控制,2011,40(5). |
| 作者姓名： | 王亚锋 孙富春 张友安 刘华平 |
| 作者单位： | 1. 海军航空工程学院自动控制系,山东烟台264001;清华大学计算机科学与技术系,北京100084 2. 清华大学计算机科学与技术系,北京,100084 3. 海军航空工程学院自动控制系,山东烟台,264001 |
| 基金项目： | 国家自然科学杰出青年基金资助项目，国家自然科学基金资助项目(90716021;60621062):国家重点基础研究发展计划 |
| 摘 要： | 设计了一种基于可达集的鲁棒模型预测控制算法.首先确定了一个鲁棒不变集,并将此不变集用作模型预测控制的终端约束集；接着采用终端约束集对可达集的包含度作为优化指标；最后,采用预测时域逐渐减小的控制策略以保证在线优化存在可行解.从理论上证明了吸引域内的任意点在有限时域内都会被引导至终端约束集并始终停留在此集之内,并由仿真算例验证了本文所设计鲁棒模型预测控制算法的可行性. |
| 关 键 词： | 鲁棒模型预测控制 可达集 终端约束集 鲁棒不变集 |
A Robust Model Predictive Control Based on Reachable Sets |
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| WANG Yafeng,SUN Fuchun,ZHANG You'an,LIU Huaping.A Robust Model Predictive Control Based on Reachable Sets[J].Information and Control,2011,40(5). | |
| Authors: | WANG Yafeng SUN Fuchun ZHANG You'an LIU Huaping |
| Affiliation: | WANG Yafeng~(1,2),SUN Fuchun~2,ZHANG You'an~1,LIU Huaping~2 (1.Department of Automatic Control Engineering,Naval Aeronautical and Astronautical University,Yantai 264001,China,2.Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China) |
| Abstract: | A robust model predictive control(MPC) algorithm based on reachable sets is designed.Firstly,a robust invariant set is established and serves as the terminal constraint set for MPC;next,the inclusion degrees of reachable sets in terminal constraint set are used as optimization index;finally,the control strategy with gradually shortened predictive horizon is adopted to guarantee the existence of the feasible solution of online optimization.It is proved in theory that any point in the region of attraction wil... |
| Keywords: | robust MPC(model predictive control) reachable set terminal constraint set robust invariant set |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |
