非最小相位系统输出跟踪的最优预测控制方法

讨论了一类非最小相位系统的输出跟踪问题。非最小相位系统广泛存在于机器人柔性结构控制、飞机的飞机控制和航天器发射等实际问题中。由于非最小相位系统内部动态的不稳定性，传统的一些输出跟踪方法将导致系统的某些变量发散。文中通过讨论系统的有界理想状态轨迹，将期望跟踪的输出进行了扩充，利用预测控制方法研究了一类非最小相位系统的输出跟踪问题，从理论上证明了利用预测控制可以使非最小相位系统稳定地渐近跟踪期望输出。

Output Tracking of Non-Minimum Phase Systems Using Predictive Control

Output tracking problems for non minimum phase system existed in many practical problem, such as aircraft flight controlling, spacecraft launching and flexible manipulation, are considered. Classical approaches for output tracking are invalid for the non minimum phase system due to the internal dynamic instability. The desired output trajectory is redefined by the bounded ideal state trajectory of the non minimum phase system. Predictive control is used to achieve stable output tracking of the non minimum phase system with a new desired trajectory. The problem in which the systems can track the new reference trajectory steadily is discussed. Finally a simulational result is given.