广义准无限时域非线性预测控制

摘要

This paper generalizes the quasi-infinite horizon nonlinear MPC scheme in a more useful form. Condiitions for the closed-loop stability of constrained nonlinear systems and for the existence of an optimal solution are presented. Based on feedback linearization, implementation issues of the control scheme including the determination of larger terminal regions are discussed. Computation time for on-line optimization can be reduced significantly.%将准无限时域非线性预测控制方法推广到更一般的情况,并给出了闭环约束系统的稳定性条件及最优解的存在条件.基于反馈线性化技术讨论了广义准无限时域非线性预测控制的实现及较大终端域的获取.该方法能显著减少在线优化所需的时间.