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有约束切换非线性系统的稳定控制是一个重要的研究问题.通常的预测控制方法可以很好的处理约束问题并使得系统稳定,但一般首先假设其中的优化问题初始可行,而对于初始稳定区域并没有具体的描述.本文针对一类输入变量受约束且状态不可测的非线性切换系统,提出了一种混合非线性预测控制方案.其主要思想是:利用李亚普诺夫函数和状态观测器,设计在预测控制器和有界反馈控制器之间适当切换的混杂控制器,以得到初始稳定区域的描述并使得子系统闭环稳定;对整个切换系统,基于状态估计,设计在各组件间平稳切换的切换律,以保证整个闭环系统的渐近稳定性.最后通过对一个化工过程实例进行仿真,验证了本文所提控制器的有效性.
Stable control of constrained switched nonlinear systems is an important research problem. The usual predictive control method can well deal with the constraints and make the system stable. However, it is generally assumed that the optimization problem is initially feasible. For the initial stable region There is no specific description.In this paper, a hybrid nonlinear predictive control scheme is proposed for a class of nonlinear switched systems with constrained and unmeasurable input variables.The main idea is to use Lyapunov function and state observer to design A hybrid controller that switches appropriately between the predictive controller and the bounded feedback controller to get a description of the initial stable region and make the subsystem closed-loop stable; and for the whole switching system, based on the state estimation, Switching law to ensure the asymptotic stability of the entire closed-loop system.Finally, a simulation of a chemical process is performed to verify the effectiveness of the proposed controller.