具有理想跟踪特性的鲁棒变结构模型参考自适应控制

A ROBUST VARIABLE STRUCTURE MRAC WITH EXPECTED TRANSIENT AND STEADY STATE PERFORMANCE

针对相对阶为１的定常线性被控对象，提出了一种控制增益可切换的鲁棒变结构模型参考自适应控制方案．该方案在对象参数及高频增益符号均未知的情形下，可确保跟踪误差满足预先给定的过渡过程性能指标，即超调量、过渡过程时间和稳态误差．

A new robust variable structure model reference adaptive control(VS MRAC) scheme is proposed in this paper.The scheme is based on the existing VS MRAC structure together with a switching mechanism to adjust the gain of variable structure control signal.The main features of the scheme are that 1)a prespecified transient and steady state performance index for tracking error can be achieved,and 2)it doesn't require the sign of the plant high frequency gain to be known a priori.