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Memory Nonfragile Output Feedback Robust MPC for Polytopic Timedelayed Systems with Constraints
Xing He,Wei Jiang,Caisheng Jiang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.2
This paper investigates memory nonfragile mixed-objective output feedback robust model predictive control (OFRMPC) for a class of uncertain systems subjected to physical constraint, bounded disturbance, unmeasurable delayed state and possible controller fragility. By employing a delay-independent Lyapunov-Krasovskii function and linear matrix inequality (LMI) framework, novel sufficient conditions for the proposed memory nonfragile OFRMPC are derived to asymptomatically stabilize the closed-loop system with guaranteed H∞/H2 performance for all admissible polytopic uncertainties, external disturbance, state delay, and additive or multiplicative gain perturbation. A key technique for this controller is the online optimization of an infinite-horizon objective function followed by a memory output feedback control law based on the pre-specified offline state estimator using modified quadratic bounded conditions. Moreover, the input constraint and the recursive feasibility have been further guaranteed via additional LMI-based conditions. Finally, a numerical example is given to illustrate the effectiveness of the proposed OFRMPC approach.