离散时间部分状态反馈模型参考自适应控制

Discrete time partial-state feedback model reference adaptive control

本文针对线性不确定性系统,给出了部分状态反馈直接模型参考自适应控制设计方案以及详细的系统稳定性、输出跟踪性能分析.控制器设计基于降维观测器和参数化方法.此方案采用反馈控制,反馈信号不仅仅依赖全状态信息或者输出信号,而是任意不超过系统维数的可测信号.因此,部分状态反馈控制是包含状态反馈、输出反馈控制的新的控制方案,缓解了状态反馈对状态信息的限制,降低了输出反馈控制结构的复杂性.通过引入辅助信号,本文证明了输出匹配条件的存在性、所有闭环系统信号的有界性以及渐近输出跟踪性能.仿真结果验证了该方案的有效性.

A partial-state feedback direct model reference adaptive control is designed for uncertain linear systems.Detailed stability analysis and output tracking performance are presented.The design of the controller is based on the reduced order observer and parameterization method.The novel scheme adopts feedback control.Feedback signals are not only depend on the full state information or the output signals,but also on any measurable signals whose order is no more than system dimension.Thus,partial-state feedback control as a new control scheme includes state feedback control and output feedback control,and reduces more constraints on state information than state feedback control does and decreases complexity of control structure compared to output feedback control.By introducing auxiliary signals,the existence of output matching condition,boundedness of all closed-loop system signals and performance of asymptotic output tracking are proved.The simulation results verify the effectiveness of the proposed scheme.