多变量系统的基于高频增益矩阵分解的直接型模型参考自适应控制

针对相对阶为2的多变量系统,利用高频增益矩阵分解,在适当的假设下,建立了新的参数模型,设计出具有未规范化自适应律的直接型模型参考自适应控制器,保证了闭环系统所有信号的有界性和跟踪误差的收敛性.仿真实例验证了控制方案的有效性.

Direct model reference adaptive control of multi-variable systems based on high-frequency gain matrix decomposition

For multi-variable systems with relative degree two, by using high-frequency gain matrix decomposition, a new parametric model is established, and a direct model reference adaptive controller with a unnormalized adaptive law under some appropriate assumptions is designed, which guarantees the boundedness of all the signals of the closed-loop system and the convergence of the tracking error. A simulation example shows the effectiveness of the control scheme.