一种基于MT-滤波器的连续自适应反推控制的数字实现方法

An Approach to Digital Implementation of Continuous Adaptive Backstepping Control Based on MT-Filter

研究了基于MT-滤波器的连续自适应反推控制的数字实现问题.首先用δ-算子将连续系统离散化,利用MT-滤波器和反推设计方法给出了自适应反推控制器的设计,然后分别分析了离散和混杂自适应控制系统的稳定性和跟踪性能.同已有文献相比,本文的主要工作在于:1)基于MT-滤波器的离散自适应反推控制器的设计;2)误差系统状态向量的构造.由于MT-滤波器的阶次比K-滤波器的阶次低,因此,误差系统的构造更加复杂,这也使得适应系统的稳定性分析更加困难.

The problem of digital implementation of continuous adaptive backstepping control based on MT-filter is studied. Continuous systems are first discretized with the δ-operator, and a design of adaptive backstepping controller is given using MT-filter and backstepping design method. Stability and tracking performance are then analyzed for discrete and hybrid adaptive control systems respectively. Compared with the existing references, the main work of this paper lies in: 1) the design of discrete adaptive back-stepping controller based on MT-filter, 2) the construction of state vector of the error system. Due to the deduction of the MT-filter order compared with the K-filter, the construction of the error system is more complicated, which also makes the analysis of stability of adaptive system more difficult.