摘要
当一类非最小相位系统参数发生跳变时,针对常规自适应控制系统暂态响应差的问题,提出一种基于多模型切换的多变量直接自适应前馈解耦控制器.该控制器由多个参数已知的固定控制器和2个自适应控制器构成.多个固定参数控制器可由系统参数模型通过映射直接得到,并且和邻域一起完全覆盖控制器参数模型集.通过加权多项式矩阵的选择,消除了稳态误差,实现了解耦控制,并给出了全局收敛性分析和覆盖性证明.仿真结果表明,暂态响应和解耦效果得到了提高.
For a non-minimum phase system, when the parameters of the system change abruptly, a multi-variable direct adaptive feedforward decoupling controller using multiple models was presented to improve the transient response. The controller consists of multiple fixed controllers with two adaptive controllers. The fixed controllers are derived from the corresponding fixed system parameter models directly and used to cover the controller parameter set with their neighborhoods. By the choice of the weighting polynomial matrix, it can not only eliminate the steady state error, but also decouple the system. The global convergence and the cover property were given and several simulation examples illustrate the power of the derived multiple models adaptive decoupling controller.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第3期361-365,共5页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60474051)
国家教育部高等学校博士学科点专项科研基金资助项目(20020248028)
上海市科委重大技术攻关项目(04DZ11008)
中国博士后科学基金资助项目(20040350130)
关键词
自适应控制器
多模型
非最小相位
前馈
解耦
Computer simulation
Multivariable systems
Polynomials
Theorem proving
Transients
