L1 adaptive sampled-data control for uncertain multi-input multi-output systems
L1 adaptive sampled-data control for uncertain multi-input multi-output systems
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DOI：
10.1016/j.automatica.2019.01.007
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
H. Jafarnejadsani;Hanmin Lee;N. Hovakimyan
中科院分区：
文献类型：
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作者：
H. Jafarnejadsani;Hanmin Lee;N. Hovakimyan
针对可能存在非最小相位零点的不确定多输入多输出（MIMO）系统，采用L1自适应控制结构，设计了一种采样数据（SD）控制器。所提出的控制器补偿干扰和不确定性的低通滤波器的带宽内。对于输入/输出信号在一个采样周期内保持恒定的闭环系统，给出了具有SD控制器的闭环系统鲁棒稳定的充分条件。结果表明，当SD控制器的采样时间趋于零时，混合闭环系统可以恢复连续时间参考系统的性能。仿真例子验证了理论研究结果。
This paper develops a sampled-data (SD) controller for uncertain multi-input multi-output (MIMO) systems, possibly with non-minimum phase zeros, using the L 1 adaptive control architecture. The proposed controller compensates for disturbances and uncertainties within the bandwidth of a low-pass filter. Sufficient conditions for robust stability are obtained for the closed-loop system with SD controller, where the input/output signals are held constant over a sampling period. It is shown that the hybrid closed-loop system can recover the performance of a continuous-time reference system as the sampling time of the SD controller tends to zero. Simulation examples are provided to validate the theoretical findings.