Predictive Control of High-Order Fully Actuated Nonlinear Systems with Time-Varying Delays

• 作者: LIU Guo-Ping
• 来源期刊: 系统科学与复杂性学报（英文版）
• 年，卷（期）: 2022,（2）
• 页码范围: 457-470
• 页数: 14页
• 语种: 英文
• DOI: 10.1007/s11424-022-1467-z

摘要

This paper investigates the control problem of high-order fully actuated nonlinear systems with time-varying delays in the discrete-time domain.To make the compensation for time-varying delays concise,active and universal,a novel nonlinear predictive control method is proposed.The designed nonlinear predictive controller can achieve the same expected control performance as the nonlinear systems without delays.At the same time,the necessary and sufficient conditions for the stability of the closed-loop nonlinear predictive control systems are derived.Numerical examples show that the proposed nonlinear predictive controller design method can completely compensate for the time-varying delays of nonlinear systems.