基于事件触发的鲁棒预测控制器设计

Design of Robust Model Predictive Controller Based on Event Trigger Strategies

摘要: 针对干扰有界的线性离散系统,提出了事件触发的鲁棒预测控制算法。首先,采用紧约束方法设计系统的鲁棒预测控制优化问题;然后,根据求解优化问题得到的一组最优控制律序列,为后续多个时刻构造满足优化问题约束条件的鲁棒可行控制律序列;最后,根据输入-状态稳定性理论,得出保证系统鲁棒稳定的事件触发条件,从而完成事件触发鲁棒预测控制器的设计。仿真结果表明了事件触发条件的有效性,以及本文算法在减少系统计算量方面的优越性。

Abstract: This paper proposes an event-triggered robust model predictive control algorithm for the linear discrete system with addictive bounded disturbances. Firstly, the robust predictive control optimization problem is designed by utilizing the constraint tightening method. And then, based on the sequence of optimal control law, the feasible control law is derived for the subsequent instants. Besides, the event trigger condition is obtained by means of input-state stability theory. Finally, the simulation results illustrate the effectiveness of the proposed event-trigger conditions, whose can reduce the computation complexity.