一种自适应鲁棒控制方法及其闭环稳定性分析

AN ADAPTIVE ROBUST CONTROL ALGORITHM AND ANALYSIS OF ITS CLOSED LOOP STABILITY

研究了含有未建模动态的慢时变系统的自适应镇定问题．考虑的对象具有非最小相位、含未建模动态和大范围时变参数等不良特性，且存在未知但有界外部扰动．这类对象很难用时不变鲁棒控制器或传统自适应控制器进行镇定．利用ｌ１优化设计结合参数估计的投影算法，提出了一种自适应鲁棒控制策略．基于ｌ１优化设计的连续性和投影算法的收敛性，证明了这种控制策略能够持续适应慢时变对象并且保持闭环系统一致稳定性．鲁棒性分析表明这种控制策略具有良好的鲁棒镇定性．

In this paper,the problem of adaptive stabilization of slowly time\|varying sys tems with unmodeled dynamics is investigated in the presence of unknown but boun ded disturbances.The plants under consideration are non\|minimum phase and time\|varying and contain norm\|bounded unmodeled dynamics,and cannot be stabilized by time\|invariant robust controller or adaptive controller.A new adaptive robus t scheme is proposed based on integration of l 1 optimization design method ology and projection algorithm of parameter estimation.Using the continuity prop erties of l 1 optimal control and convergent pro perties of projection algor ithm,the adaptive scheme proposed in this paper can persistently adapt to the ti me\|varying plant to maintain uniform stability.Robustness analysis demonstrates that this scheme has good robust stability.