冗余度TT-VGT机器人的神经网络自适应控制

提出了采用神经网络进行模型参考自适应控制(MRAC)的方案,建立了自适应控制的状态模型,并推导出相应的自适应算法;最后对冗余度TT-VGT机器人自适应控制进行了仿真。     

离散时域模型参考自适应方案对建模误差的鲁棒性分析

本文分析了Narendra的离散时域模型参考自适应控制(DTMRAC)方案对建模误差的 鲁棒性,证明该类方案对I型建模误差的鲁棒性较强,对Ⅱ型建模误差的鲁棒性差.仿真结 果证明了鲁棒性的分析结论.由于模型参考自适应诸方案有统一性,上述结论也具有普遍性, 并对模型参考自适应方案在计算机控制系统中的应用具有指导意义.     

基于改进卡尔曼滤波器的扰动抑制无模型自适应控制方案

针对无模型自适应控制方法在测量扰动作用下控制效果不佳的问题, 本文提出了一种新的扰动抑制无模 型自适应控制方案. 首先基于受控系统的动态线性化数据模型及测量扰动的统计特性, 在最小方差估计准则下推导 了基于系统输入输出数据的改进卡尔曼滤波器. 然后基于此滤波器给出了一种新的扰动抑制无模型自适应控制方 案. 该方案仅需用到受控系统的输入输出数据, 即可实现在强测量扰动作用下系统的无模型自适应控制. 仿真结果 显示, 相比现有的扰动抑制无模型自适应控制方案, 该方案在系统跟踪常值参考信号、时变参考信号时均能有效地 抑制测量扰动, 适用性更好的同时可以获得更小的跟踪误差及更大的数据信噪比.     

具有未知高频增益的模型参考自适应控制的性能提高

在高频增益kp 未知的假设下, 提出了一种修改的模型参考自适应控制器. 证明了这种修改的模型参考自适应控制方案具有稳定性和鲁棒性 ;同时通过选取的控制律, 其瞬态性能也明显提高.     

模型参考自适应控制系统的两种简化方案

基于波波夫超稳定理论进行模型参数自适应控制系统设计,分别采用参考模型极点和零点做滤波器,设计了两种不用线性补偿器的简化模型参考自适应控制方案,避免了分解系统的繁琐工作,仿真验证本方案能实现渐进跟踪,且控制效果令人满意。     

逆变电源的自适应重复控制方案

克服逆变电源系统参数、负载变化和电源死区效应的影响,设计了一种自适应重复控制方案。自适应方案采用跟踪参考序列的模型参考自适应控制设计方法。不需线性补偿器,既简化了设计,又减少了计算量,适合快速跟踪,并适应系统参数和负载的变化。重复控制作为补偿器,补偿死区效应的影响。     

一类参数时变工业过程的MRAC设计与仿真

针对一类典型的参数时变的实际工业过程,基于模型参考自适应控制(MRAC)理论,提出了一种新的自适应控制方案.分析了实际工业生产过程中的复杂性,应用MRAC理论设计了自适应控制器,给出了给控制方案的稳定性分析.最后,在MATLAB环境下对一个典型的工业过程进行了仿真实验,分析了这种种控制方案的优越性.仿真结果表明该控制方案的优越性和在实际工业过程中的重要应用价值.     

机械手的全局稳定自适应控制方案

本文针对机械手一类复杂的非线性系统,综合非线性补偿和模型参考自适应控制两种方法的基本思想,提出一种有效的全局渐近稳定自适应控制方案.此方案没有对机械手模型做任何线性近似,控制算法中只用到了容易测量的关节角位移和角速度信号,而且保证控制量平滑.最后给出了满意的仿真结果.     

电流型逆变器变频调速系统的模型参考自适应控制

本文提出电流型逆变器变频调速系统的模型参考自适应控制方案.文中分析了系统和参 考模型的结构,确定了适应机构的参数.实验表明,系统采用模型参考自适应后,提高了系统 的动态与静态性能,增大了稳定运行的变频范围和电机的负载能力.     

电流型逆变器变频调速系统的模型参考自适应控制

本文提出电流型逆变器变频调速系统的模型参考自适应控制方案.文中分析了系统和参考模型的结构,确定了适应机构的参数.实验表明,系统采用模型参考自适应后,提高了系统的动态与静态性能,增大了稳定运行的变频范围和电机的负载能力.     

Computational aspects of discrete time adaptive control

Stable model reference adaptive control schemes for discrete time systems can be designed which take into account computational time and limited range of computing machines. An algorithm is developed using Lyapunov second method and properties of strictly positive real functions.     

Adaptive control of plants with unknown dead-zones

Model reference adaptive controllers are designed for plants with unknown dead-zones. Several control strategies are investigated in which two sets of adjustable parameters, one belonging to a dead-zone inverse and the other to a linear controller, are either kept fixed or adaptively updated. The developed adaptive control schemes ensure boundedness of all closed-loop signals and reduce the tracking error     

Exponential stability of linear equations arising in adaptive identification

The stability, properties are examined of various time-varying linear differential equations which arise in model reference adaptive identification schemes. Necessary and sufficient conditions for exponential stability are presented.     

Robust fault-tolerant controller design for linear time-invariant systems with actuator failures: an indirect adaptive method

In this paper, indirect adaptive state feedback control schemes are developed to solve the robust faulttolerant control (FTC) design problem of actuator fault and perturbation compensations for linear time-invariant systems. A more general and practical model of actuator faults is presented. While both eventual faults on actuators and perturbations are unknown, the adaptive schemes are addressed to estimate the lower and upper bounds of actuator-stuck faults and perturbations online, as well as to estimate control effectiveness on actuators. Thus, on the basis of the information from adaptive schemes, an adaptive robust state feed-back controller is designed to compensate the effects of faults and perturbations automatically. According to Lyapunov stability theory, it is shown that the robust adaptive closed-loop systems can be ensured to be asymptotically stable under the influence of actuator faults and bounded perturbations. An example is provided to further illustrate the fault compensation effectiveness.     

Robust fault-tolerant controller design for linear time-invariant systems with actuator failures: an indirect adaptive method

In this paper, indirect adaptive state feedback control schemes are developed to solve the robust faulttolerant control (FTC) design problem of actuator fault and perturbation compensations for linear time-invariant systems. A more general and practical model of actuator faults is presented. While both eventual faults on actuators and perturbations are unknown, the adaptive schemes are addressed to estimate the lower and upper bounds of actuator-stuck faults and perturbations online, as well as to estimate control effectiveness on actuators. Thus, on the basis of the information from adaptive schemes, an adaptive robust state feed-back controller is designed to compensate the effects of faults and perturbations automatically. According to Lyapunov stability theory, it is shown that the robust adaptive closed-loop systems can be ensured to be asymptotically stable under the influence of actuator faults and bounded perturbations. An example is provided to further illustrate the fault compensation effectiveness.     

适应控制综述

对于适应反馈控制已研究了各种实用的开环方案(增益计划设定等)和闭环方案(模型参 考,自校正,模式识别等).这些方案是用以克服过程中大的变化或动态干扰而造成的问题. 本文从应用观点综述适应控制的各种方案.讨论了用基准试验进行性能比较评定的必要性. 最后,综述了新涌现的专家系统和基于知识控制可能做出的贡献.     

Liapunov redesign of model reference adaptive control systems

The model reference adaptive control system has proved very popular on account of a ready-made, but heuristically based, rule for synthesizing the adaptive loops-the so-called "M.I.T. rule." A theoretical analysis of loops so designed is generally very difficult, but analyses of quite simple systems do show that instability is possible for certain system inputs. An alternative synthesis based on Liapunov's second method is suggested here, and is applied to the redesign of adaptive loops considered by some other authors who have all used the M.I.T, rule. Derivatives of model-system error are sometimes required, but may be avoided in gain adjustment schemes if the system transfer function is "positive real," using a lemma due to Kalman. This paper amplifies and extends the work of Butchart and Shackcloth reported at the IFAC (Teddington) Symposium, September, 1965.     

关联大系统的分散自适应控制：孤立子系统动力学已知情况

本文研究了一类关联大系统的分散自适应控制问题，拓广了分散自适应控制的应用范围，在孤立子系统（ＭＩＭＯ）动力学信息已知，关联强度未知的情况下，论文提出了结构相当简单的分散自适应控制策略，它可保证闭环的分散自适应控制系统具有良好的动力学行为；系统的所有信号都全局有界，进一步，在状态调节情况下，关联大系统状态趋向于零；在模型跟踪情况下，跟踪误差可以通过控制器的设计使之任意小。