CAJ | 학술논문

将预测控制和滑模控制结合起来，提出一种新的非线性模型预测控制方法。通过对系统状态预测得到切换函数预测值，求解约束开环优化求得预测控制律，并将当前时刻的控制作用于对象，下一时刻重复此过程。该方法具有预测控制在线处理约束及滑模控制滑动模态对干扰的不变性的优点。分析了零终端滑模约束模型预测控制的稳定性。
장예측공제화활모공제결합기래，제출일충신적비선성모형예측공제방법。통과대계통상태예측득도절환함수예측치，구해약속개배우화구득예측공제률，병장당전시각적공제작용우대상，하일시각중복차과정。해방법구유예측공제재선처리약속급활모공제활동모태대간우적불변성적우점。분석료령종단활모약속모형예측공제적은정성。
A new nonlinear model predictive control(NLMPC) scheme isproposed, which combines the predictive control and the sliding mode control(SMC). By predicting the system state, the pre-designed switching function is predicted, then the control law can be found by solving constrained open-loop optimal control problem. The current control is implemented, and then the optimizing procedure is repeated at the next sampling time. The proposed scheme, which has advantages of NLMPC and SMC, can deal with system constraints on-line and has strong robustness on the sliding surface. By constraining terminal sliding mode to be zero, the stability of MPC system is analyzed.