摘要
提出了一种可消除确定性扰动影响的鲁棒极点配置自适应控制器的设计方法。这种方法可以直接获得控制器参数,无需求解Diophantine方程,也不需要辨识多余的辅助参数和进行参数分离,而且根据内模原理可以消除未知确定性扰动的影响,实现对参考输入的稳态无误差跟踪。给出了所提算法的全局收敛性证明,并通过仿真实验验证了算法的有效性。
A design method of adaptive pole placement controller is presented to eliminate unknown deterministic disturbance. In this method, parameters of the controller can be directly obtained. It is unnecessary to find the solutions of Diophantine equation and identify the extra auxiliary parameters, and it does not need to separate the disturbance model. The effect of deterministic disturbances can be eliminated according to the intemal model principle, no static track control errors for reference input signals could be achieved. Global convergence of the algorithm is given. The simulation results show the validation of the algorithm.
出处
《控制工程》
CSCD
2007年第3期301-303,331,共4页
Control Engineering of China
关键词
多变量系统
极点配置
自校正控制
全局收敛性
multivariable systems
pole placement
self-tuning control
global convergence
