σ校正混合自适应控制律
σ-Modification Hybrid Adaptive Control Law
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摘要: 本文提出了一种σ校正混合自适应控制律,并且证明在对象具有相加和相乘未建模动 态(unmodeled dynamics)的情况下,若采用文中所给出的混合自适应控制系统结构,这种σ 校正混合自适应控制律可保证闭环系统中的所有信号有界,并且对于任何有界初始条件,系 统具有小的均值残余跟踪误差.数学模拟结果表明,本文所提出的混合自适应控制律优于相 类似的全连续和全离散自适应控制律.Abstract: This paper proposes a σ-modification hybrid adaptive control law. It is shown that for a continuous-time plant with additive and multiplicative unmodeled dynamics if the hybrid adaptive control system configuration given in the paper is adopted, the hybrid adaptive control law guarantees boundedness of all signals in the adaptive loop and small residual tracking errors for any bounded initial condition. The simulation results demonstrate that the hybrid adaptive control law is superior to the pure discrete-and continuous-time counterparts.
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Key words:
- σ-modification /
- hybrid adaptive control /
- unmodeled dynamics /
- system tracking error
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