A hybrid H2/H∞ index robust model predictive control(RMPC)method is proposed for a class of time-varying delay discrete systems with actuator saturation characteristics and unknown disturbances.Firstly,the saturation characteristics of actuators are transformed by convex combination method,which greatly reduces the complexity of dealing with the saturation characteristics of actuators.A Lyapunov-Krasovskii functional is constructed that depends on the upper and lower bounds of time-varying delays.Secondly,the disturbance rejection problem of the hybrid H2/H∞ RMPC in the sense of norm boundedness is studied by using Lyapunov stability theory.The sufficient conditions for the existence of the robust model predictive controller with hybrid H2/H∞ index are obtained.Finally,the simulation results show that the proposed method has strong robustness and good application value.
关键词
执行器饱和/时变时滞/扰动抑制/H2/H∞性能指标/鲁棒模型预测控制
Key words
actuator saturation/time-varying delay/disturbance rejection/H2/H∞ performance index/robust model predictive control
维普
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