Adaptive Control of Multivariable Systems with Unknown Sign of the High Frequency Gain Matrix
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摘要: 基于向量形式的非线性Backstepping方法,对多变量模型参考自适应控制(MRAC)系 统设计出新的自适应控制器.该设计机制减弱了现有研究中对高频增益矩阵的假定条件,使某些 系统关于高频增益矩阵的假定条件便于检验,从而该控制器的实用范围更广.该控制器能保证系 统的全局稳定性,跟踪误差趋于零并且是平方可积的.
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关键词:
- 向量Backstepping方法 /
- 全局稳定性 /
- 多变量系统
Abstract: A new adaptive control scheme is proposed for multivariable MRAC systems based on the nonlinear backstepping approach in vector form. The assumption on a prior knowledge of the high frequency gain matrix in the existing results is weakened and can be easily checked for certain plants so that the proposed method is widely applicable. This control scheme guarantees the global stability of the closed-loop system and makes the tracking error tend to be zero and quadratically integrable.-
Key words:
- Vector backstepping method /
- global stability /
- multivariable systems
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