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摘要: 为了克服高增益反馈项的缺陷, 设计了一个带有自适应补偿的控制器用于不确定时滞系统鲁棒跟踪控制. 本文证明了自适应补偿项的引入不会影响原来闭环系统的稳定性. 因此, 可以根据跟踪性能的需求和控制增益的约束来决定是否采用自适应补偿项. 最后, 数值仿真表明了控制器的有效性.Abstract: To overcome the drawbacks of the high-gain feedback term, a controller with an adaptive compensation term is developed for robust tracking of uncertain dynamic delay systems. It is proved that the introduction of the adaptive compensation term will not affect the stability of the original closed-loop system. In this way, it will be practically flexible to decide whether to include the adaptive compensation term depending on the tracking performance requirements and controller gain constraints. The effectiveness of the proposed controller is demonstrated by numerical examples.
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Key words:
- Model following /
- robust tracking /
- time-delay systems /
- periodic signals
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