模型参考自适应控制的慢漂移分析
A Slow-Drift Analysis of MRAC
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摘要: 近年来,对完全模型匹配的MRAC已有许多研究,尤为重视MRAC的慢漂移不稳 定[1-7],但其机理并非很清楚. 本文用均值平衡位置内摄动分析法,分析了有正态零均值噪音及有未建模动态时MRAC 的慢漂移.指出用Ляцунов稳定性理论或超稳定性理论设计的自适应控制器中,完成相乘项 和平方项的积分,是MRAC慢漂移及慢漂移不稳定的根源.在MRAC中唯取缔积分器及相 乘项才能有转机.Abstract: A perturbation analysis is introduced to analyze the slow-drift of MRAC in the mean balancing position with normal zero mean noise and unmodeled dynamics. It is pointed out that the adaptive controller based on Lyapunov stability theory (or the hyperstability theory) completes the integration of the square term caused by the integration of the multiplication term, and the integration of the square term is exactly the source of the slow-drift and its instability. In the MRAC, it can be shown that the integrator and multiplication term must be canceled to obtain a favourable property.
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Key words:
- MRAC /
- slow-drift /
- perturbation analysis
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