一种基于MT-波波器的连续自适应反推控制的数字实现方法

研究了基于MT-滤波器的连续自适应反推控制的数字实现问题.首先用δ-算子将连续系统离散化.利用MT-滤波器和反推设计方法给出了自适应反推控制器的设计,然后分别分析了离散和混杂自适应控制系统的稳定性和跟踪性能.同已有文献相比,本文的主要工作在于:1)基于MT-滤波器的离散自适应反推控制器的设计;2)误差系统状态向量的构造.由于MT-滤波器的阶次比K-滤波器的阶次低,因此,误差系统的构造更加复杂,这也使得适应系统的稳定性分析更加困难.

An Approach to Digital Implementation of Continuous Adaptive Backstepping Control Based on MT-Filter

The problem of digital implementation of continuous adaptive backsteppingcontrol based on MT-filter Is studied. Continuous systems are first discretized with theδ-operator, and a design of adaptive backstepping controller is given using MT-filter andbackstepping design method. Stability and tracking performance are then analyzed fordiscrete and hybrid adaptive control systems respectively. Compared with the existingreferences, the main work of this paper lies in:1) the design of discrete adaptive backstepping controller based on MT-filter,2) the construction of state vector of the errorsystem. Due to the deduction of the MT-filter order compared with the K-filter, theconstruction of the error system is more complicated, which also makes the analysis ofstability of adaptive system more difficult.