中文摘要：

针对具有状态和输入约束的严格反馈非线性系统,提出一种反步设计构造性非线性预测控制算法.利用反步设计法离线构造系统的控制李亚普诺夫函数,进而得到系统的镇定可调控制器即稳定控制类.基于性能指标,滚动优化控制器可调参数,计算满足系统约束的预测控制量.进一步,运用控制李亚普诺夫函数的性质建立闭环系统的稳定性.最后,应用轮式移动机器人的优化控制验证本文结果的有效性.

英文摘要：

A backstepping design-based constructive nonlinear predictive control algorithm is proposed for strict feedback nonlinear systems subject to constraints on the state and input.Using backstepping method,the control Lyapunov functions of the system are constructed offline and then stabilized tuning controllers（i.e.class of stable control） of the system are obtained.With performance indexes,the tuning parameter of the controller is optimized movingly and predictive control actions are computed to satisfy the system constraint.Moreover,the properties of control Lyapunov functions are explored to establish the stability of the closed-loop system.Finally,the optimization control of wheeled mobile robots is used to illustrate the effectiveness of the result in this paper.