一种输入饱和受限系统的自适应逆控制

大部分执行器输入都是受约束的，若直接将控制信号输入被控对象，往往造成控制质量变坏，甚至导致控制失败．提出了一种约束自适应逆控制方法，当输入幅值受到饱和约束时，将饱和器与被控对象看作新的对象进行逆建模，并通过构造Lyapunov函数，得出新的控制器权值更新公式，且保证控制系统的稳定性，从而使饱和的影响降到最小．水箱温控系统的仿真实例表明了算法的有效性及对输入噪声的鲁棒性．

An adaptive inverse control scheme of the limited system with input saturation

To most part of the actuators, their inputs are restricted. As a result, the control performance will be deteriorated or failed when the controlling signals are input directedly into the controlled object. A new constrained adaptive inverse control scheme is proposed for a system which input is saturated. The main idea is that the saturator and the original plant are regarded as a new plant which is used to model the controller. A Lyapunov function is constructed to derive the new weights updating algorithm for controller and guarantee the stability of the control system which leads to the least influences of saturation. The simulations of a water-tanker temperature control system show the effectiveness of the scheme and the robustness against input noises.