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针对控制执行器存在约束的多输入多输出(MIMO)系统的控制问题,基于滑模控制方法,提出了一种新的快速抗饱和预测补偿算法.首先建立了输入受限系统的无约束等效增广模型,然后基于控制量变化速率有界的假设,设计补偿控制量的有限空间搜索策略,减少了预测寻优干扰,缩小了寻优空间,并从决策上保证了控制系统的保性能滚动优化.该方法物理意义明确,广泛适用于线性和非线性时不变系统.仿真结果表明,该方法能够有效改善输入受约束系统的控制性能,具有内存占用量和运算量小的特点.
Aiming at the control problem of multiple input multiple output (MIMO) system with control actuator constraints, a new fast anti-saturation prediction compensation algorithm is proposed based on sliding mode control.Firstly, the unconstrained equivalent of the input constrained system is established Based on the assumption that the rate of change of control variable is bounded, a finite space search strategy is proposed to compensate for the control volume, which reduces the optimal search disturbance and reduces the space for optimization. This method has a clear physical meaning and is widely applicable to linear and nonlinear time-invariant systems. Simulation results show that the proposed method can effectively improve the control performance of the input constrained system, and has the characteristics of small memory consumption and memory consumption.