基于多控制器的直接自适应控制

Direct Adaptive Control Based on Multiple Controllers

为解决多模型自适应控制可能造成的模型失配不稳定性问题,利用非伪控制理论,提出了一种直接辨识控制器的方法。由一步超前控制器构造控制器集,通过一个具有一定属性的恰当选择的代价函数,只要控制器集中至少存在一个镇定的控制器,即自适应控制问题是可行的,滞后切换逻辑总能快速将镇定控制器切换到控制回路中,保证闭环系统稳定和输出误差渐近趋于零。给出了闭环系统在L2e意义下输入输出稳定性结论,并给出仿真实例验证其有效性。

To solve the model-mismatch instability problem which may be caused by multiple model adaptive control, a method which directly identifies the candidate controllers using unfalsified control theory is provided. The candidate controller set is constructed by one step ahead of controller. Whenever there exists at least one stabilizing controller in the candidate controller set, i.e., the adaptive control problem is feasible, through a suitably chosen cost function which has some properties, the hysteresis switching logic will quickly switch the stabihzing controller to the control loop, guaranteeing that the closed-loop system is stable and the tracking error is asymptotically zero. The input-output stability of the closed-loop system in the sense of L2e is given. Simulation example is given to show the efficiency of this method.