Order determination and robust adaptive control of unknown deterministic input-affine systems: An operational controller
Order determination and robust adaptive control of unknown deterministic input-affine systems: An operational controller
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未知确定性输入仿射系统的阶数确定和鲁棒自适应控制：操作控制器
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Babak Nadjar Araabi
中科院分区：
文献类型：
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作者：
Sina Jahandari;A. Kalhor;Babak Nadjar Araabi
在大多数直接自适应控制技术中，假定系统的动态阶数是已知的。然而，这个假设在大多数现实世界的问题是不满足的。通过解决这个问题，本文提出了一种方法来设计一类特定的确定性输入仿射系统的操作控制器。也就是说，在第一阶段，通过激励系统和收集输入输出数据样本，根据基于相关性的启发式准则确定未知系统的动态阶数。在没有任何先验知识的情况下，除了它的最大阶数小于一个已知的数，在所有可能的模型之间进行智能搜索，所建议的算法精确地识别系统的动态阶数。在第二阶段，不需要估计系统的参数，鲁棒自适应技术的设计，以更新控制器的参数，以跟踪一个有界可微参考信号无抖振。对于参数有限变化的输入仿射系统，研究了所提控制策略的鲁棒性和最大误差。所提出的方法的有效性和利弊进行了全面的讨论，并通过各种模拟显示。
In most direct adaptive control techniques the dynamic order of systems are assumed to be known. However, this assumption in most real-world problems is not met. Fostered by addressing this problem, this paper presents a methodology to design an operational controller for a specific class of deterministic input-affine systems. Meaning, in the first phase the dynamic order of the unknown system is determined contingent upon a correlation-based heuristic criterion through exciting the system and gathering input-output data samples. Without any a priori knowledge about the system except the fact that its maximum order is less than a known number, with an intelligent search among all possible models, the suggested algorithm precisely identifies the dynamic order of the system. In the second phase, needless to estimate parameters of the system, a robust adaptive technique is designed to update parameters of the controller in order to track a bounded differentiable reference signal without chattering. The robustness and maximum error of the suggested control strategy for input-affine systems whose parameters are varying limitedly is also investigated. Effectiveness and pros-and-cons of the proposed approach are comprehensively discussed and shown through variety of simulations.