参数不确定四容液位自适应扰动补偿控制

Adaptive Disturbance Compensation Control for Four-tank Liquid Level System with Uncertain Parameters

针对具有参数不确定和集中扰动的四容液位耦合控制系统,提出一种自适应参数及扰动补偿控制方法。基于端口受控哈密顿原理,设计了自适应参数和扰动补偿机制,有效减少了因参数不确定和集中扰动造成的影响。为实现控制的鲁棒性并减小计算复杂度,提出一种分解-综合法设计参数估计向量。仿真结果验证了该方法的有效性。

An adaptive parameter and disturbance compensation control method is proposed for four-tank liquid level coupled control system with parametric uncertainties and lumped disturbances.Based on the port-controlled Hamiltonian principle,an adaptive parameter and disturbance attenuation technology is designed to reduce the impact of parametric uncertainties and lumped disturbances.To achieve the robustness of the control and reduce the calculation complexity,a novel splitting-integrating method is proposed to design the parameter estimation vector.The simulation results are given to show the effectiveness of the proposed approach.