基于多面体终端域的Hammerstein-Wiener非线性预测控制

摘要

Many actual systems are often represented as the Hammerstein-Wiener nonlinear models, where a linear dynamic subsystem is surrounded by two static nonlinear subsystems at its input and output.For Hammerstein-Wiener nonlinear systems with the input and output constraints, a predictive control synthesis algorithm based on polytopic terminal region is proposed.At the offiine stage, by constructing a series of the polytopic invariant sets, the terminal region is enlarged; in the polytopic invariant set, the nonlinear controller is designed, then the conservation of conventional linear control law design is reduced.At the online stage, by solving a finite number of linear matrix inequality optimization problems, not only the real-time demand can be satisfied, but also the control performance can be improved.Simulation results show the advantages of adopting polyhedron invariant set.%许多实际系统都可以表示成一种中间为线性动态子系统、输入输出端为非线性静态子系统的Hammerstein-Wiener 型非线性模型.针对输入和输出受约束的Hammerstein-Wiener型非线性系统,提出一种基于多面体终端域的预测控制综合算法.离线设计时,通过构造一系列多面体不变集,扩大了终端域;在多面体不变集内,设计非线性控制律,减少了常规线性控制律设计的保守性.在线计算时,通过求解有限个线性矩阵不等式(Linear matrix inequalities,LMIs)优化问题,不仅可以满足实时性要求,而且能够改善控制性能.仿真结果表明了采用多面体不变集的优越性.