Adaptive Control: Design Trade-Offs, Robustness, Performance

尽管最近在自适应控制领域取得了进展，但目前的大多数自适应控制方案往往表现出较差的暂态和稳态性能。在稳定自适应方案的仿真中，经常会观察到突发、混沌和大的暂态振荡等现象。拟议的研究旨在通过研究新的设计方法和引入适当的数学工具来消除这些不受欢迎的现象，这些工具可以用于量化和分析除了稳定性和健壮性。所提出的设计方法是基于几乎所有自适应控制方案中使用的确定性等价控制律的扩充，除了考虑稳定性和鲁棒性之外，还考虑了性能因素。这种增广既包括不连续控制律，也包括光滑控制律。研究目标是开发一种设计和分析能够满足预定性能和鲁棒性要求的自适应控制方案的方法。

Despite the recent advances in the area of adaptive control, most of today's adaptive control schemes often exhibit poor transient and steady-state performance. Phenomena such as bursting, chaos and large transient oscillations are often observed in simulations of stable adaptive schemes. The proposed research aims to eliminate these undesirable phenomena by studying new design approaches and introducing the appropriate mathematical tools that can be used to quantify and analyze transient and steady state performance in addition to stability and robustness. The design approaches proposed are based on the augmentation of the certainty equivalence control laws that are used in almost every adaptive control scheme, by using performance considerations in addition to stability and robustness. Such augmentation includes discontinuous control laws as well as smooth ones. The research goal is to develop a procedure for designing and analyzing adaptive control schemes that can meet prespecified performance and robustness requirements.