Studies on the Design of Simple Adaptive Control (SAC) Systems for Nonlinear Systems

非线性系统简单自适应控制（SAC）系统的设计研究

• 批准号: 12650450
• 负责人: IWAI Zenta
• 金额: $ 1.86万
• 依托单位: Kumamoto University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650450/
• 关键词: SAC; Simple Adaptive Control; Nonlinear SAC; Passivity; ASPR; Output Feedback; Parallel Feedforward Compensator; Exponential Passivity; 適応制御; 非線形系; ハイゲインフィードバック; フィードバック受動

Almost strict positive realness (ASPRness) at constant coefficient linear systems is a sufficient condition for the existence of a static output feedback that makes the closed-loop transfer function be strictly positive real. In other words, it is possible to stabilize ASPR plant by a simple output-based control algorithm. Simple adaptive control (SAC) is a basic adaptive control algorithm by combining ASPRness and command generator tracker theory and it is widely used for practical control system design. However, as to nonlinear SAC systems, there have been few theoretical results.In the research report, a unified approach for the design of nonlinear SAC system based on the output feedback passivity that corresponds to the ASPRness in the linear system. The case of non-OFP plant is also treated which corresponds to the install of parallel feedback compensator at linear plants. Several practically useful design methods of adaptive control systems are also considered as a related problem of OFP based adaptive control system design.

常系数线性系统的几乎严格正实性是使闭环传递函数为严格正实的静态输出反馈存在的充分条件。换句话说，可以通过一个简单的基于输出的控制算法来稳定ASPR对象。简单自适应控制（SAC）是一种结合ASPRness和命令生成器跟踪理论的基本自适应控制算法，在实际控制系统设计中得到了广泛的应用。然而，关于非线性SAC系统的理论研究却很少。在本研究报告中，提出了一种基于输出反馈无源性的非线性SAC系统的统一设计方法，该无源性对应于线性系统中的ASPRness。讨论了非ofp装置的情况，对应于在线性装置上安装并联反馈补偿器。研究了几种实用的自适应控制系统设计方法，并将其作为基于OFP的自适应控制系统设计的相关问题。

项目成果

H. Ohtsuka, I. Mizuimoto and Z. Iwai: "Fuzzy Model Based Simple Adaptive Control for a Class of Nonlinear System"Proc. of 6th International Conference on Control, Automation, Robotics and Vision, FP7.6, #233 (CD-ROM), Marina Mandarin, Singapore. (2000)

H. Ohtsuka、I. Mizuimoto 和 Z. Iwai：“一类非线性系统的基于模糊模型的简单自适应控制”Proc。

M. Deng, H. Yu and Z. Iwai: "Simple Robust Adaptive Control Structured Uncertainty Plants with Unknown Dead-Zone"40th IEEE Conference and Control, Florida, USA. 1621-1626 (2001)

M. Deng、H. Yu 和 Z. Iwai：“具有未知死区的简单鲁棒自适应控制结构化不确定性对象”第 40 届 IEEE 会议与控制，美国佛罗里达州。

Masanori Takahashi, Yoshinori Kawasaki, Ikuro Mizumoto and Zenta Iwai: "Robust Winder Control System using Adaptive Model Output Following Control Method"Proc. of 12th IFAC Symposium on System Identification (CD-ROM), Santa Barbara, USA. (2000)

Masanori Takahashi、Yoshinori Kawasaki、Ikuro Mizumoto 和 Zenta Iwai：“使用自适应模型输出跟随控制方法的鲁棒络筒机控制系统”Proc。

Ryuji Michino, Ikuro Mizumoto, Zenta Iwai and Makoto Kumon: "Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term"Proc. of the International Conference on Control, Automation and Syste

Ryuji Michino、Ikuro Mizumoto、Zenta Iwai 和 Makoto Kumon：“控制输入项中具有不确定非线性的非线性系统的鲁棒高增益自适应输出反馈控制”Proc。

水本郁朗,岩井善太,小原浩司朗: "フィードバック指数受動性に基づく多入出力非線形系に対する適応出力フィードバック制御"計測自動制御学会論文集. Vol.37,No.2. 115-124 (2001)

Ikuro Mizumoto、Zenta Iwai、Kojiro Ohara：“基于反馈指数无源性的多输入/输出非线性系统的自适应输出反馈控制”《仪器与控制工程师协会学报》，第 37 卷，第 2. 115-124 期（2001 年） ）