基于多模型切换的多变量直接自适应控制器

Multivariable Direct Adaptive Controller Using Multiple Models

当系统参数发生跳变时 ,为了解决系统暂态响应变差的问题 ,提出一种基于多模型切换的多变量直接自适应控制器·该控制器由多个参数已知的固定模型和 2个自适应模型构成 ,多个固定参数控制器模型可由系统参数模型通过映射直接得到 ,并且和邻域一起完全覆盖控制器参数模型集·不但消除了稳态误差 ,而且实现了解耦控制·最后给出全局收敛性分析·仿真结果表明暂态响应和解耦效果得到了提高·

A multivariable direct adaptive decoupling controller was presented using multiple models. This controller improves the transient response,when the parameters of the system change abruptly. It is composed of multiple fixed controller models and two adaptive controller models. The fixed controller models were derived from the corresponding fixed system models directly and guaranteed to cover the controller parameter set. It not only eliminates the steady state error but also decouples the system. The global convergence was obtained and several simulation examples were presented to illustrate the effectiveness of the proposed controller.