摘要：对于具有输入延迟和增量约束的多包描述不确定系统,研究了鲁棒预测控制器的设计问题。针对控制增量的约束,通过将系统模型增广的方式,解决了约束不对称性给LMI处理带来的困难。并且根据增广系统的特殊结构,提出一种新的鲁棒预测控制在线算法。该算法借鉴增益调度方法,基于多步控制集设计参数依赖的反馈控制律,在一定程度上降低了保守性并改善了控制性能。仿真结果表明了该方法的有效性。

摘要：By proposing the multi-step control set and using it as the terminal set, a new design method of robust model predictive control (MPC) is presented for the constrained polyhedral uncertain systems. Through designing a series of feedback control laws, the new robust controller can achieve large feasible region and high control performance. The characteristic property of the multi-step control set also makes it possible to derive an algorithm with low online computation burden. It could make a good trade off among the initial feasible region, the control performance, and the online computation burden. The numerical examples verify these results.