Robust Predictive Control of Input Constraints and Interference Suppression for Semi-Trailer System
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چکیده
In this paper, an online receding robust predictive control scheme is proposed for inputconstrained semi-trailer system with delay and disturbance. The controller method meets the requirements of control constraint and, based on dual-mode control, the method is obtained by online optimization of performance index. The performance index is the cumulative sum of quadratic weighted value of minimal states. Controller output is calculated by means of linear matrix inequality (LMI), and the controller itself can ensure the asymptotic stability and disturbance attenuation of semi-trailer closed-loop system. Finally, simulation results confirm the effectiveness of the method.
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تاریخ انتشار 2014