Multivariable Adaptive Decoupling Controller Using Hierarchical Multiple Models  

作　　者：王昕  李少远  岳恒  

机构地区：[1]Institute of Automation, Shanghai Jiaotong University, Shanghai 200030 [2]Research Center of Automation, Northeastern University, Shenyang 110004

出　　处：《自动化学报》2005年第2期223-230,共8页Acta Automatica Sinica

基　　金：Supported by the National "863" High Technology Project (2002AA412130)Natural Science Foundation of P. R. China (60474051)

摘　　要：To solve the problem such as too many models, long computing time and so on, a hierarchical multiple models direct adaptive decoupling controller is designed. It consists of multiple levels. In the upper level, the best model is chosen according to the switching index. Then multiple fixed models are constructed on line to cover the region which the above chosen fixed model lies in.In the last level, one free-running and one re-initialized adaptive model are added to guarantee the stability and improve the transient response. By selection of the weighting polynomial matrix, it not only eliminates the steady output error and places the poles of the closed loop system arbitrarily, but also decouples the system dynamically. At last, for this multiple models switching system, global convergence is obtained under common assumptions. Compared with the conventional multiple models adaptive controller, it reduces the number of the fixed models greatly. If the same number of the fixed models is used, the system transient response and decoupling result are improved. The simulation example illustrates the power of the derived controller.To solve the problem such as too many models, long computing time and so on, a hierarchical multiple models direct adaptive decoupling controller is designed. It consists of multiple levels. In the upper level, the best model is chosen according to the switching index. Then multiple fixed models are constructed on line to cover the region which the above chosen fixed model lies in. In the last level, one free-running and one re-initialized adaptive model are added to guarantee the stability and improve the transient response. By selection of the weighting polynomial matrix, it not only eliminates the steady output error and places the poles of the closed loop system arbitrarily, but also decouples the system dynamically. At last, for this multiple models switching system, global convergence is obtained under common assumptions. Compared with the conventional multiple models adaptive controller, it reduces the number of the fixed models greatly. If the same number of the fixed models is used, the system transient response and decoupling result are improved. The simulation example illustrates the power of the derived controller.

关 键 词：分层递阶 多模型 自适应控制器 解耦 电极设置 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]