CAJ | 학술논문

针对一类具有输入和状态约束的干扰有界非线性系统，提出了基于区间分析的约束非线性鲁棒模型预测控制，以降低计算量并扩大系统吸引域。首先，在集合运算的基础上，利用区间运算和函数区间扩展，给出了一种计算效能更好、保守性更低的非线性系统鲁棒一步集计算方法；其次，构造重叠的多面体控制不变集序列并以此计算约束非线性系统的鲁棒多步集，并通过设计基于集合的在线优化策略，提出了基于鲁棒一步集的单步优化非线性模型预测控制，有效降低了非线性优化的在线计算量；最后，仿真实例验证了算法的有效性。
침대일류구유수입화상태약속적간우유계비선성계통，제출료기우구간분석적약속비선성로봉모형예측공제，이강저계산량병확대계통흡인역。수선，재집합운산적기출상，이용구간운산화함수구간확전，급출료일충계산효능경호、보수성경저적비선성계통로봉일보집계산방법；기차，구조중첩적다면체공제불변집서렬병이차계산약속비선성계통적로봉다보집，병통과설계기우집합적재선우화책략，제출료기우로봉일보집적단보우화비선성모형예측공제，유효강저료비선성우화적재선계산량；최후，방진실례험증료산법적유효성。
Based on the interval analysis, a robust nonlinear model predictive control (RNMPC) strategy with extended domain of attraction and reduced computation load is developed for a class of input-constrained and state-bounded uncertain nonlinear systems. Firstly, based on set theory, an effective and low conservatism algorithm for the robust one-step set of nonlinear systems is proposed with interval algorithm and interval extension of function in interval arithmetic. Secondly, an overlapped robust control-invariant set sequence around equilibrium points is calculated. And then, the robust multi-step sets of the robust control-invariant set sequence are calculated and used to design the robust nonlinear MPC based on one-step online optimization. By employing the one-step optimization, this algorithm extends the domain of attraction. Furthermore, the optimization function is simplex and the number of variable is reduced. Therefore, this algorithm reduces the on-line computation load of nonlinear optimization. Finally, numerical simulation results validate the proposed method.