一种可保证瞬态特性的改进的鲁棒模型参考自适应控制

针对典型的鲁棒模型参考自适应控制中瞬态性能无法得到保障的问题, 提出一种改进的鲁棒模型参考自适应控制器. 该控制器在标准的鲁棒自适应控制中加入??_∞ 补偿器, 以抑制闭环自适应系统中参数估计误差和不确定扰动对系统输出跟踪性能造成的不利影响. 理论分析和仿真验证表明, 所提出的控制器不但保留了典型鲁棒模型参考自适应控制的理想特性, 并且通过设计适当的??∞ 补偿器使得闭环系统的瞬态性得到了较大的改善, 其改善的程度依赖于??∞ 补偿器性能指标的大小.

A modified robust model reference adaptive control with guaranteed transient performance

A modified robust model reference adaptive controller is proposed to deal with the unguaranteed transient performance problem in standard robust model reference adaptive control. An ??_∞ compensator is introduced as an additional item in nominal robust adaptive control to attenuate the adverse effects on tracking performance caused by parameter estimation error and bounded uncertain disturbance. The theoretical analysis and simulation results show that the proposed controller not only can maintain the ideal properties of the standard robust model reference adaptive control, but also greatly improve the transient performance of the closed-loop system through designing a proper ??_∞ compensator. Furthermore, the amount of the transient performance improvement depends on the performance level of the ??_∞ compensator