具有任意非线性输入的鲁棒模型参考自适应控制

ROBUST MODEL REFERENCE ADAPTIVE CONTROL WITH ARBITRARY INPUTS

提出了一种分析具有任意非线性输入的模型参考自适应（ＭＲＡＣ）的新方法，它不要求对象是稳定的，允许系统存在未建模动态和有界扰动．同时给出了一种提高非线性输入自适应系统特性的补偿方案，它通过在控制律中引入跟踪误差，可以提高系统的暂态及稳态精度。

This paper presents a new analysis method for model reference adaptive control (MRAC) with arbitrary bounded input nonlinearities, which does not require the stability of plants. The plant can have unmodeled dynamics and bounded disturbances. A new modified MRAC scheme is also proposed to improve the transient and steady state performances. The output error is used directly in the control law to generate a modified control signal to compensate possible bad performances of the robust adaptive controllers, and the ideal asymptotic properties of MRAC is not destroyed.