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针对受约束的仿射型非线性系统,提出了一种采用扩张终端约束集与其容许集来扩大其双模非线性模型预测控制吸引域的新方法.首先,采用反馈线性化控制律和非线性系统的多面体线性微分包含,给出了一种求解仿射非线性系统最大控制不变集的方法,并基于此设计了扩张终端约束集的不变集切换控制策略;其次,引入区间算法,研究了约束非线性系统N步容许集的离线算法,在此基础上以扩张终端约束集的N步容许集作为初始状态吸引域,利用双模单步优化控制策略以实现系统状态渐近稳定,并扩大了预测控制的吸引域;最后,将该算法用于一类典型的非线性过程——连续搅拌反应釜的控制中,仿真结果验证了方法的有效性.
Aiming at the constrained affine nonlinear system, a new method of expanding the bounding set of terminal constraints and its allowable set to expand its bimodulus nonlinear model for predicting and controlling the attracting region is proposed.Firstly, the feedback linearized control law and the nonlinear A new method to solve the maximally controlled invariant set of affine nonlinear systems is given. Based on this, a new invariant set switching control strategy is proposed. Secondly, the interval algorithm is introduced and studied Then, an offline algorithm of N-step tolerant set of constrained nonlinear system is proposed. Based on this, the N-step allowable set of terminal constraint set is used as the initial state attracting domain, and the system state is asymptotically stable by using the dual-mode single-step optimization control strategy Which expands the attracting domain of predictive control. Finally, the algorithm is applied to the control of continuous stirred tank reactor, a typical nonlinear process. The simulation results verify the effectiveness of the method.