基于联合滤波算法的复杂时变系统在线自适应逆控制

Online adaptive inverse control for a class of complex time-varying systems based on combination filtering algorithm

针对一类结构和参数均具备时变特性的复杂时变系统,提出一种新的基于联合滤波算法的在线自适应逆控制方法.该方法在处理参数时变问题的同时可兼顾系统的结构时变特性,实现复杂动态系统的在线跟踪控制.同时提出新的联合Volterra核函数滤波算法,该算法克服了原Volterra滤波器计算复杂运算速度慢的缺点,实现了动态非线性系统的在线跟踪控制.通过仿真分析可以得出,对于此类线性、非线性复杂时变系统,基于新的联合滤波器的自适应逆控制方法可以快速有效的实现动态对象在线建模与控制.

For a class of complex systems with time-varying structure and parameters,an online adaptive inverse control method based on combination filtering algorithm is proposed.This method simultaneously considers the time-varying characteristics of the structure and parameters,and presents an online tracking control mechanism for complex dynamic systems.Meanwhile,a novel combination Volterra kernel method is proposed for dealing with the nonlinear time-varying characteristics,which reduces the computational complexity and provides for nonlinear systems with a better dynamic online tracking control mechanism than the original algorithm.Furthermore,the simulation analysis shows that,for this type of complex time-varying systems,the adaptive inverse control method based on online combination filters can achieve the online modeling of unknown plants fast and effectively.