摘要
本文提出了一种对象具有未建模动态时的间接式混合自适应极点配置方案。在此方案中利用规范化技术和带遗忘因子的协方差重置递推最小二乘法估计对象参数,并直接根据连续对象设计离散自适应控制律,保证了闭环系统的鲁棒稳定性。理论分析和数字仿真均表明此方案优于相类似的全连续和全离散方案。
In this paper, we propose an indirect hybrid adaptive pole placement scheme for plant with numodeled dynamics. Normalization technique and covariance reset least square method with forgetting factor are used for parameter estimation. We design the discrete adaptive control law directly from continuous plant, which guarantees the robust stability of the closed-loop system. Theoretical analysis and digital simulation results show that this scheme is superior to similar continuous scheme and discrete scheme.
出处
《自动化学报》
EI
CSCD
北大核心
1993年第3期351-355,共5页
Acta Automatica Sinica
关键词
未建模动态
极点配置
Unmodeled dynamics
hybrid adaptive pole placement
covariance reset
normalization
