ROW: Robust Adaptive Control

鲁棒自适应控制的目的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。这类扰动的例子包括有界扰动、对象参数的时变和对象中的未建模动态。虽然目前对自适应系统在存在有界扰动时的行为已有了很好的了解，并且已经得到了强有力的结果，但在存在参数变化和未建模动态的情况下，只有在非常严格的假设下才能建立起鲁棒性。该方案解决了在存在后两种扰动时的鲁棒性问题，不仅旨在放松这些假设，而且还旨在开发一组使自适应系统表现出令人满意的行为的一般条件。在对每个问题的讨论中，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。在每一种情况下，都将对基本的非线性系统进行全局分析，并尝试推导出全局有界解的充分条件以及系统存在无界解的条件。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.