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设计一种次序优化机制,提出一类饱和受限不确定系统的次序优化多步预测控制方法.将系统的输入分解成多个子集合,在各采样周期仅对其中一个集合的输入进行优化,待优化的输入保持上一优化值.针对每个输入集合,确定闭环系统的不变集条件,将次序优化预测控制器设计问题转化成“最小-最大”优化问题,通过求解一组线性矩阵不等式问题得到控制器.仿真算例表明,采用次序优化预测控制方法可以减少控制器的设计时间.
An order optimization mechanism is designed and a class of order-optimized multi-step predictive control method for a class of saturated constrained uncertain systems is proposed. The input of the system is decomposed into multiple sub-sets, and only one input of each set is optimized in each sampling period. For each input set, the invariant set conditions of the closed-loop system are determined, and the optimal design of sequential optimal predictive controller is transformed into “minimum-maximum ” optimization problem by solving a set of linear matrices The inequality problem is solved by the controller.The simulation results show that the optimal design of predictive control method can reduce the design time of the controller.