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*

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

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.