Stability and robustness properties of a simple adaptive controller
Stability and robustness properties of a simple adaptive controller
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DOI：
10.1109/9.536509
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发表时间：
1996-09
期刊：
影响因子：
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通讯作者：
R. Bakker;A. Annaswamy
中科院分区：
文献类型：
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作者：
R. Bakker;A. Annaswamy
针对相对次数不超过二的线性时不变对象，提出了一种低阶自适应跟踪控制器。不需要先验知道工厂的顺序。该算法对于小的线性时不变植物扰动和有界扰动具有鲁棒稳定性。通过使用控制律中参数估计的投影来实现鲁棒性。设计控制器所需的附加先验信息是受控对象参数的界限。在没有植物扰动和干扰的情况下，可以获得完美的跟踪。
A low-order adaptive tracking controller is proposed for linear time-invariant plants with a relative degree not exceeding two. The order of the plant is not required to be known a priori. The algorithm is robustly stable with respect to small linear time-invariant plant perturbations and bounded disturbances. The robustness is achieved by using a projection of the parameter estimates in the control law. An additional a priori information needed to design the controller is bounds on the plant parameters. In the absence of plant perturbations and disturbances, perfect tracking is obtained.