具有未建模和有界干扰系统的鲁棒自适应控制(Ⅰ)

Robust adaptive control of the system with unmodelled dynamics and bounded disturbances

考虑一类同时具有未建模动态和有界干扰的连续时间系统,在修改的加权最小二乘法中嵌入一个带相对死区函数的时变加权因子,并以此算法估计系统建模部分的参数.对建模部分的相对阶为零的情况,设计出不含微分环节的自适应控制器,系统输出直接跟踪所给定的参考信号,证明了所构成的闭环系统是全局稳定的.

A continuous - time system with unmodelled dynamics and bounded disturbances is considered. Its parameters of modeling part is estimated using the weighted recursive least square （WRLS） algorithm with a variable factor. For the relative degrees n ^＊ = 0 of modeling part differentiator- free adaptive controller is designed. Moreover, it is proved that the structured closed - loop systems is global stable and the output directly track the given reference signal.