摘要
本文提出了一种新的称为θ-δ修正法的鲁棒自适应控制律。与其它修正法比较,θ-δ修正法不会使系统性能退化。即在无摄动的理想情况下,这种自适应律可以保证跟踪误差以及自适应回路里的其它信号为渐近稳定。当系统受到摄动时,该自适应律是鲁棒的且无论设计常数γ是大是小,输出误差的漂移都很小,因而γ可以取大于零的任意值。
In this paper, a new robust adaptive control law, referred as θ-δ modification, is developed. Unlike other modification methods, the θ-δ modification does not degrade the performance of the control system; i. e., the new adaptive law guarantees that the tracking error and all other signals in the adaptive loop are asymptotically stable in the ideal case for which the system is perturbation-free. When the system is subject to perturbations, the adaptive law is robust, with a small drift in error between the plant and model outputs regardless of whether the constant ν is large or small. Therefore, the constant ν can be chosen arbitrarily.
出处
《自动化学报》
EI
CSCD
北大核心
1990年第4期289-296,共8页
Acta Automatica Sinica
基金
国家自然科学基金
关键词
鲁棒性
自适应控制
θ-δ修正法
Model reference adaptive control
robustness
lyapunov stability theory
