【摘要】：分布式模型預(yù)測(cè)控制是解決大規(guī)模系統(tǒng)控制的一種有效方法,能在盡可能簡(jiǎn)單的系統(tǒng)通信方式和盡可能小的通信負(fù)擔(dān)之下達(dá)到盡可能好的控制性能,同時(shí)保證算法的收斂性和系統(tǒng)的穩(wěn)定性.由于實(shí)際過(guò)程往往是非線性的,且由于條件限制導(dǎo)致系統(tǒng)狀態(tài)不易準(zhǔn)確測(cè)量,甚至不可測(cè),這種情況下?tīng)顟B(tài)反饋往往難以實(shí)現(xiàn)預(yù)期的目標(biāo),因此一般采用輸出反饋控制,設(shè)計(jì)狀態(tài)觀測(cè)器對(duì)系統(tǒng)狀態(tài)進(jìn)行估計(jì).本文針對(duì)一類狀態(tài)不可測(cè)的非線性系統(tǒng),以及受制于時(shí)滯和通信干擾的非線性系統(tǒng),利用狀態(tài)觀測(cè)器提出了一種輸出反饋分布式模型預(yù)測(cè)控制算法,保證了觀測(cè)器估計(jì)狀態(tài)的最終有界性以及估計(jì)狀態(tài)和真實(shí)狀態(tài)誤差的有界性,進(jìn)而得到原系統(tǒng)狀態(tài)的最終有界性,使原系統(tǒng)最終穩(wěn)定.本文的工作可以概括為以下兩部分:第一,針對(duì)一類狀態(tài)不可測(cè)的非線性系統(tǒng),研究了一種輸出反饋分布式模型預(yù)測(cè)控制算法.首先設(shè)計(jì)了狀態(tài)觀測(cè)器,在系統(tǒng)輸出為異步測(cè)量的情況下證明了估計(jì)狀態(tài)與真實(shí)系統(tǒng)狀態(tài)的誤差是有界的;然后設(shè)計(jì)了一個(gè)基于Lyapunov函數(shù)控制器,保證了標(biāo)稱觀測(cè)器的原點(diǎn)是漸近穩(wěn)定的;最后給出了輸出反饋分布式模型預(yù)測(cè)控制算法,證明了觀測(cè)器的估計(jì)狀態(tài)是最終有界的,進(jìn)而得到原系統(tǒng)狀態(tài)的最終有界性.第二,研究了受制于時(shí)滯和通信干擾的非線性系統(tǒng)的輸出反饋分布式模型預(yù)測(cè)控制問(wèn)題.首先給出非線性系統(tǒng),并對(duì)時(shí)滯和通信干擾模型進(jìn)行了描述,設(shè)計(jì)了帶有時(shí)滯的狀態(tài)觀測(cè)器,證明了估計(jì)狀態(tài)與真實(shí)系統(tǒng)狀態(tài)的誤差是有界的;然后設(shè)計(jì)了一個(gè)基于Lyapunov函數(shù)控制器,保證了標(biāo)稱觀測(cè)器的原點(diǎn)是漸近穩(wěn)定的;最后提出了受制于時(shí)滯和通信干擾的分布式模型預(yù)測(cè)控制算法,為了處理通信干擾,在控制規(guī)則中解決一個(gè)約束可行性問(wèn)題來(lái)確定通過(guò)通信信道得到的數(shù)據(jù)傳遞信息是否可用,證明了觀測(cè)器的估計(jì)狀態(tài)是最終有界的,進(jìn)而得到原系統(tǒng)狀態(tài)的最終有界性,保證了系統(tǒng)的穩(wěn)定性.
[Abstract]:Distributed model predictive control is an effective method to solve large-scale system control. It can achieve the best control performance under the simplest possible communication mode and the smallest communication burden. At the same time, the convergence of the algorithm and the stability of the system are guaranteed. Because the actual process is often nonlinear and the system state is difficult to measure accurately or even undetectable due to the constraints of the condition, the state feedback is often difficult to achieve the desired goal, so the output feedback control is generally used. A state observer is designed to estimate the state of the system. In this paper, an output-feedback distributed model predictive control algorithm is proposed for a class of nonlinear systems with unmeasurable states and nonlinear systems subject to delays and communication disturbances. The ultimate boundedness of the observer estimation state and the boundedness between the estimated state and the real state error are guaranteed, and the ultimate boundedness of the original system state is obtained, which makes the original system finally stable. The work of this paper can be summarized as follows: first, an output-feedback distributed model predictive control algorithm is studied for a class of nonlinear systems with unmeasurable state. First, the state observer is designed, and the error between the estimated state and the real state is proved to be bounded when the output of the system is asynchronous, and then a controller based on Lyapunov function is designed. The origin of the nominal observer is asymptotically stable. Finally, an output feedback distributed model predictive control algorithm is presented, which proves that the estimated state of the observer is ultimately bounded, and the ultimate boundedness of the original system state is obtained. Secondly, the output feedback distributed model predictive control problem for nonlinear systems with time delay and communication disturbance is studied. First, the nonlinear system is given, and the delay and communication disturbance models are described. The state observer with time delay is designed, and the error between the estimated state and the real system state is proved to be bounded. Then a controller based on Lyapunov function is designed to ensure that the origin of the nominal observer is asymptotically stable. Finally, a distributed model predictive control algorithm is proposed to deal with the communication interference. A constrained feasibility problem is solved in the control rules to determine whether the data transfer information obtained through the communication channel is available. It is proved that the estimation state of the observer is ultimately bounded, and the ultimate boundedness of the original system state is obtained. The stability of the system is guaranteed.
【學(xué)位授予單位】：曲阜師范大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP13

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本文編號(hào)：2214645