摘要
针对旋转二级倒立摆受到的未知有界持续扰动,提出了一种约束非线性H∞鲁棒预测控制策略。首先,对离散化系统进行输入状态稳定性分析;其次,设计预测控制的控制律,并给出相应终端约束集的估计解法,得到预测控制闭环系统的鲁棒稳定性结论。最后,仿真验证了上述策略的有效性。
The paper presents an H∞ robust model predictive control（MPC） scheme for a double inverted pendulum subject to unknown but bounded persistent disturbances.Firstly,the input-to-state stability of discrete-time systems is analyzed;secondly,designing the control action of MPC and an estimate solution of its terminal constrained set is addressed.Then,the robust stability of the controlled system with the mentioned scheme is achieved.Finally,a simulation demonstrates the effectiveness of the proposed scheme.
出处
《武汉理工大学学报》
CAS
CSCD
北大核心
2010年第24期102-105,共4页
Journal of Wuhan University of Technology
关键词
持续扰动
输入状态稳定性
终端约束集
鲁棒稳定性
persistent disturbances
input-to-state stability
terminal constrained set
robust stability
