不确定性干扰时的离散模型参考自适应控制器

A DISCRETE-TIME MODEL REFERENCE ADAPTIVE CONTROLLER IN THE PRESENCE OF UNCERTAIN DISTURBANCES

针对有不确定性干扰的系统,本文提出了一种具有相对死区函数的鲁棒自适应控制算法,给出了整个自适应控制系统的稳定性证明。同时,以一个简单柔性结构模型作为算例,验证了该算法的有效性。

This paper proposes a new discrete-time model reference adaptive control scheme, which is robust with respect to uncertain disturbances which bounded a selected normalizationsignal.This scheme is suitable for the case——the plant's relative degree n* ≥1.A relative deadzone function is introduced in the adaptive law to overcome the effects of uncertainty.It is shown that, if the ratio of uncertainty to the normalization signal is sufficiently small, then the adaptive control system is stable.Meanwhile, this scheme has been proved to be highly effective through a simple flexible structure model.