摘要
针对存在未知干扰和未建模动态等不确定性的系统的自适应鲁棒跟踪控制问题进行了探讨 .首选将e1 优化控制器的有限拍设计方法结合给出了最优鲁棒稳态跟踪控制器的设计方法 .然后利用集员辨识的思想 ,将名义模型的参数和未建模动态及干扰的大小作为未知参数 ,提出了一种递推参数估计方法 .最后将上述研究结果结合起来提出了一种自适应鲁棒跟踪控制策略 ,证明了自适应算法的全局收敛性并给出了鲁棒跟踪性能指标的一下较紧的上界 .与现有的结果相比 ,本文提出的自适应控制具有非保守的鲁棒稳定性 。
An adaptive robust tracking problem is investigated when a discrete-time plant is subject to both unmodelled dynamics and unknown external disturbances. Firstly, combining the 1 optimization and deadbeat control scheme we present a procedure for designing the optimal robust steady tracking controller. Then, based on the idea of set-membership identification, we propose a recursive estimation for extended parameters which include the parameters of nominal model and the bound of unmodelled dynamics and disturbances. Finally, we propose a novel adaptive robust tracking scheme, and prove the overall convergence of the adaptive algorithm. For this scheme a computable tight upper bound on robust tracking performance is also provided. The adaptive scheme proposed in this paper has non-conservative robust stability and asymptotically optimal robust performance.
出处
《自动化学报》
EI
CSCD
北大核心
2003年第6期883-892,共10页
Acta Automatica Sinica
基金
SupportedbyNationalNaturalScienceFoundationofP .R .China (6 0 374 0 0 9,5 9975 0 5 6 )andNaturalScienceFounda tionofGuangdongProvince (990 795 )
关键词
不确定性系统
自适应鲁棒跟踪控制
自适应控制
鲁棒稳定性
Adaptive algorithms
Adaptive control systems
Discrete time control systems
Estimation
Optimization
Robustness (control systems)
System stability
Theorem proving
Tracking (position)
