逻辑型多变量鲁棒自校正解耦间接算法

本文提出了一种多变量鲁棒自校正解耦间接算法。它采用一种新的正则化和相对死区实现了鲁棒自校正解耦控制。这种方法可以使系统跟踪特性不受死区界和正则化因子的影响。本文还给出了算法的鲁棒性分析和仿真结果。     

多变量鲁棒自校正解耦直接算法

本文提出了一种多变量鲁棒自校正解耦直接算法，并在一定的条件下给出了算法的鲁棒性分析，通过仿真实验证实了算法的有效性。     

多变量鲁棒自校正解耦间接算法

本文提出了一种多变量鲁棒自校正解耦间接算法，并在一定的条件下给出了算法的鲁棒性分析，通过仿真实验证明了算法的有效性。     

基于非线性干扰观测器的不确定非线性系统鲁棒轨迹线性化控制

针对一类不确定非线性系统，基于轨迹线性化控制方法(TLC)及非线性干扰观测器技术(NDO)研究了一种新的非线性鲁棒控制策略．TLC是一种有效的非线性跟踪和解耦控制方法，但当系统中存在内部未建模动态和外界干扰时，当前TLC控制器性能将显著下降．本文利用NDO对系统中的不确定项进行估计，其输出与TLC控制律结合来对消不确定性的影响．最后通过一个数值仿真实例验证了本文提出的方法的有效性,仿真结果表明该鲁棒轨迹线性化控制方法具有很好的干扰衰减能力和鲁棒性能．     

隐式极点配置自校正解耦控制器

针对一类多变量系统,本文提出了一种新的极点配置自校正解耦控制算法,它能通过参数估计直接获得控制器参数,运算量很小,数字仿真表明本算法具有较好的性能。     

具有降阶模型的多变量鲁棒自适应前馈控制器

本文提出了一种多变量鲁棒自适应前馈控制器。该控制器采用低阶模型来控制参数未知的高阶多变量系统时,在可测干扰和有界不可测干扰作用下能保证自适应系统稳定运行。当可测干扰与系统输出之间存在未建模动态时,它可以对可测干扰实行有效的动静态补偿。当只有有界干扰作用时,它能使有界干扰对系统产生的影响最小。本文还给出了采用所提出的控制器控制某钢厂间歇式余热锅炉的仿真结果。     

一种新的线性时变系统鲁棒自适应控制算法

提出一种新的线性时变系统间接自适应控制算法，以保证控制系统对一类未建模动态，有界扰动及系统参数变化同时具有鲁棒性；采用的修正死区方法不需要未建模动态和外部扰动上界参数的先验信息，并且给出了时变控制系统稳定性结果及鲁棒性能分析。     

具有降阶模型的多模型鲁棒自适应控制

传统鲁棒自适应控制由于考虑了实际系统存在的不确定性,在一定程度上扩大了常规自适应控制的应用范围,但是传统鲁棒自适应控制大多只是从系统全局稳定性的角度出发来设计控制器而忽略系统动态和稳态性能,导致其无法在工况多变的实际被控系统中取得令人满意的效果。针对传统鲁棒自适应控制的不足,本文对由ARMA模型描述并包含未建模动态的系统设计了多模型鲁棒自适应控制器。首先采用正则化技术将系统未建模动态转化为系统有界扰动,并在系统降阶模型的基础上根据系统工况的变化设计了多个固定控制器和2个鲁棒自适应控制器,并根据性能指标函数选择最佳控制器作为当前系统控制器以提高系统性能。仿真实验说明当系统存在未建模动态以及系统工况发生变化时,本文设计的控制器能获得较好的控制效果。     

不确定性系统的自适应鲁棒跟踪控制

针对存在未知干扰和未建模动态等不确定性的系统的自适应鲁棒跟踪控制问题进行了 探讨.首选将l1优化控制器的有限拍设计方法结合给出了最优鲁棒稳态跟踪控制器的设计方法． 然后利用集员辨识的思想,将名义模型的参数和未建模动态及干扰的大小作为未知参数,提出了 一种递推参数估计方法.最后将上述研究结果结合起来提出了一种自适应鲁棒跟踪控制策略,证 明了自适应算法的全局收敛性并给出了鲁棒跟踪性能指标的一下较紧的上界.与现有的结果相 比,本文提出的自适应控制具有非保守的鲁棒稳定性,具有渐近最优的鲁棒跟踪性能.     

多变量双线系统的自校正解耦控制

对多变量双线性系统提出了一种自校正解耦控制算法,该算法具有全局收敛性并能 确保闭环系统的稳定性,仿真实验表明了其算法的有效性.     

多变量自校正前馈控制器及其应用

本文提出了一种新的多变量自校正前馈控制器.该控制器不仅能完全消除可测干扰的影 响,而且能应用到多变量系统,实现自造应解耦控制.本文还介绍了该控制器如何实现多变量 解耦控制及其在多变量电加热炉上的应用.     

Practical issues in the implementation of self-tuning control

Implementation aspects of self-tuning regulators are discussed in the paper. There is a large discrepancy between simulation or academic algorithms and practical algorithms. In the idealized environment of simulations it is easy to get different types of adaptive algorithms to perform well. In practice the situation is quite opposite. The adaptive or self-tuning controller must be able to handle nonlinearities, unmodelled dynamics and unmodelled disturbances over a wide range of operating conditions. Some aspects of how to implement self-tuning controllers are discussed in the paper. This includes robustness, signal conditioning, parameter tracking, estimator wind-up, reset action and start-up. Different ways to use the prior knowledge about the process are also discussed.     

多变量解耦极点配置自校正PID控制器

本文提出了一种新颖的多变量解耦极点配置自校正 PID 控制器,它不仅具有消除静差、抗干扰和在弱的条件下实现静态解耦控制的优点,而且工程直观意义强、计算简单、便于工程应用.仿真例子说明了其有效性.     

自校正控制非最小相位的电加热系统

本文提出了一种简单的多变量极点配置自校正解耦控制器。该控制器不仅避免了在线求解矩阵方程和矩阵求逆运算而且实现了自适应解耦控制。该自适应控制器已被成功地应用来控制双输入双输出非最小相位的电加热炉。     

A new robust adaptive control algorithm for linear time-varying plants

Robustness is an important property of a control system. Robust adaptive control has been an active research area for more than a decade. Since it was shown that un-modelled dynamics or even a small bounded disturbance can cause most adaptive control algorithms to go unstable, various modifications of the adaptive control algorithms have been developed to counteract instability and improve robustness with respect to unmodelled dynamics and bounded disturbances. However, we know that most of the modified approaches to achieve robustness require knowledge of either the parameter of bounding function on the unmodelled dynamics, or the upper bound on the disturbances, or the bound on the norm of unknown matching controller/plant parameters, and such knowledge can hardly be obtained in practice. A new indirect adaptive control algorithm for linear time-varying plants is proposed to achieve robustness to a class of unmodelled dynamics, bounded disturbances and plant parameter time variations. A modified relative dead zone technique is used, so that knowledge of the parameters of the upper bounding function on the unmodelled dynamics and the disturbances is not required. The stability analysis and the robust performance of adoptively controlled time-varying systems are provided for the new scheme. A simulation example is given to show the effectiveness of the proposed algorithm.     

Self-tuning control by model unfalsification (Part II)

The transient problem in self-tuning control is further analysed in a non-stochastic framework based on model unfalsification and solutions are proposed. It is not assumed that the noise bounds or norm bounds on the unmodelled dynamics were known a priori. Depending on the transient requirements on output bound, tracking performance and length of tuning period, three cases are analysed. Simulations show the practical potential of the tuning methods presented.     

Stable multirate algorithm for robust adaptive control

A new multirate adaptive control algorithm for plants with unmodelled dynamics and bounded disturbances is presented. Different rates are employed for parameter estimation, controller design and controller implemeniation. A modified constant trace least-square algorithm with dead zone and pole placement are used for the algorithm, It is shown that the closed-loop system is globally stable and that set point tracking can be well achieved.     

Output feedback tracking control by additive state decomposition for a class of uncertain systems

Besides parametric uncertainties and disturbances, unmodelled dynamics and time delay at the input are often present in practical systems, and cannot always be ignored. This paper aims to solve the problem of output feedback tracking control for a class of non-linear uncertain systems subject to unmodelled high-frequency gains and time delay in the input. By additive state decomposition, the uncertain system is transformed to an uncertainty-free system, in which the uncertainties, disturbances and effects of unmodelled dynamics along with time delay are lumped into a new disturbance at the output. Subsequently, additive state decomposition is used to decompose the transformed system to simplify the tracking controller design. The proposed control scheme is applied to three benchmark examples to demonstrate its effectiveness.