鲁棒变结构模型参考自适应控制器的分析与设计(Ⅱ)

Analysis and Design of a Robust VS MRAC:Part Ⅱ

对含未建模动态且建模部分相对阶大于 1(n >1) 的SISO定常线性系统提出了一种控制增益可切换的变结构模型参考自适应控制方案 .主要结果是 :得到了系统跟踪误差与辅助误差间关系的明确表达式 ,进而证明 ,对各辅助子系统 (均为相对阶为 1的子系统 ) ,只要按相对阶为 1时所提出的变结构律进行设计 ,使它们满足预先给定的性能指标 ,就可保证系统跟踪误差在预先给定的过渡过程时间内收敛到一个残集内 ;研究结果还表明 ,当n >1时 。

This paper considers the variable structure model reference adaptive control (VS MRAC) for a class of plants with modeled part being relative degree greater than one. By estabilshment the relationship between the tracking error and those auxiliary errors, it is shown that as long as the performance indexes are guaranteed for the auxiliary errors, each of which is in dynamics a sub system with relative degree one, the tracking error will converge to a small residual set in a pre specified transient time. Furthermore, the influence of the averaging filters on the system is analyzed and shows that it can be considered as, in a sense, an unmodeled dynamics.