模型参考自适应控制方案对建模误差的鲁棒性局限

ROBUSTNESS LIMITATION OF MRAC WITH UNMODELLED DYNAMICS

在现有模型参考自适应控制(MRAC)方案的结构下,不可能通过设计调节参数规律来增强对平衡点一致渐近稳定(u.a.s.)的自适应控制系统对建模误差的鲁棒性。本文通过研究能保证系统u.a.s.的一般形式的调节参数规律下的自适应控制系统对建模误差的鲁棒稳定性,得出了现有MRAC结构对Ⅰ型建模误差具有鲁棒性、对Ⅱ型建模误差没有鲁棒性的结论。

Under the existing structures of MRAC schemes, it is no longer possible to design parameter adaptation laws to make the u. a. s. system to be more robust to modelling error. Based on the study of the rohustness to modelling error of the system adapted by a general supposed form of adaptation law which has been originally de igned to drive the system u. a. s., this paper concludes that the existing structures of MRAC can only be made to be robust to type Ⅰ modelling error but not to type Ⅱ.