基于偏格式线性化的MIMO系统无模型自适应控制

Model-free Adaptive Control of MIMO Systems Based on Linearization of Partial Format

针对常规PID控制器不能很好兼顾抗干扰性与鲁棒性以及基于模型的控制算法过于依赖受控系统数学模型的缺点,提出一种适用于离散时间多输入多输出(MIMO)非线性系统的无模型自适应控制算法.该算法首先通过偏格式线性化方法将非线性系统线性化,再利用一种新型的投影算法在线辨识受控系统参数,根据辨识得到的受控系统参数直接递推计算无模型自适应控制律.控制器的设计仅利用受控系统的I/O数据,不需要受控系统的结构信息和外部实验信号,避免了由建模过程引起的未建模动态问题对控制性能的影响.仿真结果表明该算法具有良好的跟踪性能和较强的鲁棒性.

To solve the shortcomings of traditional PID controllers in dealing with disturbance rejection and robustness,and the over-reliance of model-based control algorithms on mathematical model of the controlled system,a model-free adaptive control algorithm is proposed for discrete time MIMO（multiple-input multiple-output） nonlinear systems.In this algorithm nonlinear system is linearized by linearization of partial format.Then the controlled system parameters are identified on-line by a novel projection algorithm.The parameters are used to recursively compute model-free adaptive control rule.The controller is designed only by using I/O data of the controlled system,and no structural information or external testing signals are needed.So the impact of the unmodelled dynamic problem of the modeling process on system performance doesn＇t exist.Simulation result shows that the proposed algorithm is an effective strategy with excellent tracking ability and strong robustness.