Robust model predictive control for time-varying time-delay systems with actuator saturation

Abstract

For a class of continuous systems with actuator saturation and time-varying time delay, a robust model predictive control method is proposed. In this method, the problem of actuator saturation is solved by the method of sector region, which can greatly reduce the conservativeness of the controller. The complex min-max optimization problem is transformed into a convex optimization problem with solving a group of linear matrix inequalities (LMIs). The robust model predictive control not only efficiently eliminates the negative effects of the time delays and actuator saturation but also ensures the stability of system. Simulation results show that the proposed method has strong robustness and application value.