摘要
对于具有未建模动态 ηn 的系统 (1)和 (2 ) ,考虑了模型参考自适应控制问题 .利用有界的外部激励和随机变向截尾技术 ,我们给出了一种类似于 [1]的模糊参考自适应控制器的设计 .对于这种控制器 ,我们证明了闭环系统是全局稳定的 ,建模部分的参数估计是O(ε) ,且这种模型参考自适应控制器在limsupn→∞1n ∑ni=0(Am(z)yi+ 1-Bm(z)z i -Cm(z)wi+ 1) 2 ≤O(ε2 ) +γ2 b21意义下是次优的 ,而其他文献中用到的严正实条件减弱为稳定性条件 .
This paper considers the model reference adaptive control problem for the system (1) with unmodeled dynamics η n satisfying (2). Using bounded external excitation and randomly varying truncation techniques, we give design method of a model reference adaptive controller which is similar to that in [1]. It is shown that the closed loop system is globally stable, the estimation error for parameter contained in the modeled part is of order ε, and the closed loop system under the model reference adaptive control law is suboptimal in the sense of lim sup n→∞1n∑ni=0(A m(z)y i+1 -B m(z)z * i-C m(z)w i+1 ) 2≤O(ε 2)+γ 2b 2 1, while the SPR condition usually used in other papers is replaced by a stability condition.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2001年第3期358-362,共5页
Control Theory & Applications
关键词
严正条件
模型参考
自适应控制
未建模动态
SPR condition
model reference adaptive control
unmodeled dynamics
