带有未建模动态的光学跟踪望远镜的鲁棒自适应控制

Robust Adaptive Control for Optical Tracking Telescope with Unmodeled Dynamics

针对光学跟踪望远镜非线性数学模型,提出一种鲁棒自适应控制器的设计方法,可用于存在未建模动态和未知有界扰动的情况。通过引入一动态信号抑止未建模动态的影响,并采用自适应阻尼来抑止各种不确定性。应用Lyapunov稳定性理论证明,本鲁棒自适应控制器可保证整个非线性系统的稳定性,且通过适当选择参数,满足任意的跟踪精度。仿真试验表明,和有关文献的模型参考自适应控制器相比,本鲁棒自适应控制器能够保证输出跟踪任一光滑参考信号,自适应速度快,控制效果有很大的改善。

This paper presented a design approach to robust adaptive controllers for the nonlinear model of optical tracking telescope. The approach can be used in the case where there exist unmodeled dynamics and unknown bounded disturbances. A dynamic signal was used to restrain the unmodeled dynamics and adaptive terms were presented to counteract the effects of the uncertainties. Using the Lyapunov stability theory, it is shown that the proposed adaptive control scheme guarantees the stability of the nonlinear system. Furthermore, the tracking error can be made arbitrarily small by choosing the design constants appropriately. Simulation results show that compared with the adaptive controllers reported in the literature, the controllers can track any smooth reference signal with a much faster adaptive speed and improve the control performance greatly.