ROW: Robust Adaptive Control

鲁棒自适应控制的目标是在存在各种扰动的情况下使自适应系统获得满意的性能。这种扰动的例子包括有界扰动、植物参数的时间变化和植物中未建模的动力学。虽然自适应系统在有界扰动下的行为目前已经得到了很好的理解，并且得到了强有力的结果，但在参数变化和未建模动力学存在下的鲁棒性仅在相当严格的假设下建立。该建议解决了后两种扰动存在下的鲁棒性问题，其目的不仅在于放松这些假设，而且在于开发一组一般条件，在这些条件下，自适应系统表现出令人满意的行为。在每个问题的讨论中，首先陈述了研究的现状，然后是提出的方法和将采用的适应程序。在每种情况下，将对潜在的非线性系统进行全局分析，并尝试推导解的全局有界性的充分条件以及系统可以具有无界解的条件。研究的目的是开发更好的方法来设计实用的自适应控制器，以满足严格的性能要求。

The aim of robust adaptive control is to realize satisfactory performance in adaptive systems when various classes of perturbations are present. Examples of such perturbations include bounded disturbances, time- variations in plant parameters, and unmodeled dynamics in the plant. While the behavior of adaptive systems in the presence of bounded disturbances is currently well understood and powerful results have been derived, robustness in the presence of parameter variations and unmodeled dynamics has been established only under assumptions that are quite restrictive. The proposal addresses robustness in the presence of the latter two perturbations and is aimed not only at relaxing these assumptions but also at developing a general set of conditions under which the adaptive system exhibits satisfactory behavior. In the discussion of each problem, the current status of research is first stated, followed by the approach that is proposed and the adaptive procedure that will be employed. In each case, a global analysis of the underlying nonlinear system will be carried out and attempts will be made to derive sufficient conditions for global boundedness of solutions as well as conditions under which the system can have unbounded solutions. The aim of the research is to develop better methods for the design of practical adaptive controllers which can meet stringent performance requirements.