全系数自适应控制方法的鲁棒性
The Robustness of the All-Conefficient Adaptive Control Method
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摘要: 研究全系数自适应控制方法对未建模动态、参数慢时变、非线性和有界干扰的鲁捧 稳定性,证明了在有未建模动态及扰动的情况下,采用经投影修正的梯度算法估计标称对象. 黄金分割自适应控制器仍能稳定标称对象.对含乘性不确定性的线性慢时变对象及具有渐消 记忆的非线性慢时变对象,分别给出了自适应控制系统鲁棒稳定的充分条件.Abstract: The robust stability of the all-coefficient adaptive control method with respect to unmodeled dynamics, parameter slowly-varying, non-linearity and bounded disturbance is studied. It is proved that in the presence of unmodeled dynamics and bounded disturbances, the golden section adaptive controller still can stabilize a nominal plant when a gradient update law modified by parameter projection is used to estimate the nominal plant. For systems with multiplicative uncertainty, sufficient conditions are presented for linear slowly varying plants and nonlinear slowly-varying plants with fading memory, respectively.
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Key words:
- All-coefficient adaption /
- robust stability /
- golden section /
- time-varying /
- nonlinearity
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