摘要
本文对文献提出的自适应控制算法的统一格式进行了稳定性和收敛性分析。首先表明:由直接自适应算法的统一格式得到的直接自适应算法即使用于可测干扰作用的非最小相位系统仍然具有全局收敛特性,即以概率1输入输出采样均方有界,广义输出跟踪误差条件采样均方极小。同时也表明:由间接自适应控制算法的统一格式得到的间接自适应算法不需要最小相位和系统延时已知条件而具有稳定和收敛特性。
The stability and convergence of the unified form of adaptive control algorithms proposed in [1] are analysed in this paper. It is shown that the direct adaptive algorithms derived from the direct adaptive control algorithm unified form have global convergence properties, even fornonminimum phase systems disturbed by measurable disturbances, i. e. with probability one, the system inputs and outputs are sample-mean-square bounded and the conditional mean square generalized tracking error achieves its global minimum possible value. It is also shown that indirect adaptive control algorithms derived from the indirect adaptive algorithm unified form have stability and convergence properties without imposing the minimum phase and known time delay conditions.
出处
《控制与决策》
EI
CSCD
北大核心
1989年第2期8-16,共9页
Control and Decision
