| 引用本文: | 邵诚,张承进.鲁棒稳定的Clarke-Gawthrop改进型自校正控制器[J].控制理论与应用,1997,14(5):671~678.[点击复制] |
| SHAO Cheng and ZHANG Chengjin.A Modified Clarke-Gawthrop Type Self-Tuning Controller with Guaranteed Robust Stability*[J].Control Theory and Technology,1997,14(5):671~678.[点击复制] |
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| 鲁棒稳定的Clarke-Gawthrop改进型自校正控制器 |
| A Modified Clarke-Gawthrop Type Self-Tuning Controller with Guaranteed Robust Stability* |
| 摘要点击 1009 全文点击 547 投稿时间：1995-04-04 修订日期：1997-01-24 |
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| DOI编号 |
| 1997,14(5):671-678 |
| 中文关键词 自校正 鲁棒稳定性 未建模动态 |
| 英文关键词 self-tuning robust stability unmodeled dynamics |
| 基金项目 |
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| 中文摘要 |
| 本文提出了一种修改的Clarke－Gawthrop自校正控制器，并且证明了控制器对未建模动态和有界扰动的鲁棒稳定性，控制器结合了Clarke－Gawthrop二次指标函数，并通过引入模型误差反馈进行了修改，参数辨识采用了带有相对死区的修正最小二乘算法，鲁棒稳定性结果既没有要求系统参数太多的先验知识，也没有使用关于自适应信号的任何假设条件。 |
| 英文摘要 |
| In the paper，a new self-tuning controller of the Clarke-Gawthrop type is proposed and shown to be stable with respect to unmodeled dynamics and bounded disturbances. The optimal control law of the Clarke-Gawthrop type is modified by introducing an estimate of the modeling error as a feedback，and a modified least squares scheme with a relative deadzone is employed.The robustness results are derived by neither requiring too much a priori knowledge of the plant parameters，nor using any assumptions on the adaptive signals. Some simulation results are given to illustrate the effectiveness of the new self-tuning controller. |