多模型自适应控制及其在三轴转台中的应用

Multiple-model Adaptive Control and Applications to a Three Axis Turning-table

研究大范围、强耦合非线性系统的线性多模型自适应控制（ＭＭＡＣ）问题。讨论了基于平衡点的非线性系统模型的线性多模型表示，提出一种根据期望参考轨迹确定平衡点的位置和数量的方法，并给出一种利用模型的匹配程度构造加权因子的ＭＭＡＣ算法。该算法可削弱扰动的影响和由于模型的切换而引起的振荡。应用结果表明了该理论的正确性。

The multiple-model adaptive control(MMAC) of nonlinear system with a large working range and strong coupling was studied, First, a linearized multiple-model representation of a nonlinear system was given based on equilibrium points, and strategy was presented to determine the position and number of equilibrium points according to the desired reference trajectory. And then, the error between real time model output and plant output was used to mesure the approximation degree to the plant by the linearized model. A new MMAC method to use the approximation degree as a weighting factor was improved. The simulation results show the effectiveness of the method in nonlinear control system.