| 引用本文: | 张国柱,陈杰,李志平.基于复合自适应律的直线电机自适应鲁棒控制[J].控制理论与应用,2009,26(8):833~837.[点击复制] |
| zhangguozhu,CHEN Jie,LI Zhiping.An adaptive robust control for linear motors based on composite adaptation[J].Control Theory and Technology,2009,26(8):833~837.[点击复制] |
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| 基于复合自适应律的直线电机自适应鲁棒控制 |
| An adaptive robust control for linear motors based on composite adaptation |
| 摘要点击 1772 全文点击 1134 投稿时间：2008-03-25 修订日期：2008-11-24 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.8.CCTA080243 |
| 2009,26(8):833-837 |
| 中文关键词 自适应鲁棒控制 直线电机 在线参数估计 复合自适应律 |
| 英文关键词 adaptive robust control linear motor online parameter estimation composite adaptation |
| 基金项目 北京市重点实验室资助项目(SYS100070417); 北京市重点学科资助项目(XK10070532). |
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| 中文摘要 |
| 自适应鲁棒控制(ARC)能克服参数不确定性与扰动对系统的影响, 具有良好的输出跟踪性能. 然而常规ARC的参数估计值难以逼近真值. 为实现高性能的控制与准确的参数估计, 本文提出了基于复合自适应律的自适应鲁棒控制(CAARC). 该方法同时采用了输出误差与参数估计误差的相关信息构造自适应律, 具有比常规ARC更好的参数估计效果. 本文在理论上证明了CAARC的闭环稳定性与参数估计误差的收敛性, 并通过分析表明CAARC具有比常规ARC更好的输出跟踪性能, 最后通过仿真验证了该方法的有效性. |
| 英文摘要 |
| The adaptive robust control(ARC) not only reduces the influence of parametric uncertainties and disturbance to the system, but also provides a good performance in output tracking. However, the parameter estimates of traditional
ARC do not give good approximations to the true values of the corresponding parameters. To achieve a high performance control and accurate parameter estimation, we propose a novel composite-adaptation-based adaptive robust control method(CAARC). This method combines the information of output tracking error with the parameter estimate error in constructing the adaptation law, which gives a better result in parameter estimation than that from the traditional ARC. The close-loop stability and the convergence of parameter estimates are also proved. It has been shown by analysis that CAARC has a better tracking performance than the traditional ARC. Finally, the effectiveness of the proposed method is demonstrated by simulation. |