具有未建模动态系统的鲁棒自适应控制

Robust Adaptive Control for the Plant with Unmodeled Dynamics

本文针对一类具有未建模动态的离散线性系统提出了一种新的鲁棒自适应控制算法．此算法由一带有相对死区的最小二乘参数估计方案和一带有模型误差反馈的广义最小方差控制器构成，本文证明了：此算法不仅能保证在有未建模动态存在时闭环系统是鲁棒稳定的，而且还能保证系统的平均跟随误差趋于零．仿真结果表明：采用本文方法即使用低阶模型设计仍能获得满意的控制效果．

In this paper,a new robust adaptive control algorithm is proposed forthe discrete-tin1e linear systems with a class of unmodeled dynamics. The algorithm iscomposed of a least squares parameter estimation scheine with relative deadzone and ageneralised minimum variance controller with modeling error feedback. It is shown hatthe algorithm ensures not only the robust stability of th closed loop system with respectto unmodeled dynamics, but also the zero tracking error. The simulation resultsdemonstrate that the algorithm designed by using reduced-order model can also give asatisfactor control performance.