鲁棒稳定的Clarke-Gawthrop改进型自校正控制器(英文)  

A Modified Clarke-Gawthrop Type Self-Tuning Controller with Guaranteed Robust Stability

作　　者：邵诚[1] 张承进[1] 

机构地区：[1]东北大学自动化研究中心,沈阳110006

出　　处：《控制理论与应用》1997年第5期671-678,共8页Control Theory & Applications

摘　　要：本文提出了一种修改的Clarke－Gawthrop自校正控制器，并且证明了控制器对未建模动态和有界扰动的鲁棒稳定性，控制器结合了Clarke－Gawthrop二次指标函数，并通过引入模型误差反馈进行了修改，参数辨识采用了带有相对死区的修正最小二乘算法，鲁棒稳定性结果既没有要求系统参数太多的先验知识，也没有使用关于自适应信号的任何假设条件。In the paper, a new self tuning controller of the Clacke-Gawthrop type is proposed and shown to be stable with respect to unmodeled dynamics and bounded disturbances. The opti-mal control law of the Clarke-Gawthrop type is modified by introducing an estimate of the model-ing error as a feedback, and a modified least squares scheme with a relative deadzone is employed.The robustness results are derived by neither requiring too much a priori knowledge of the plant parameters, nor using any assumptions on the adaptive signals. Some simulation results are given to illustrate the effectiveness of the new self-tuning controller.

关 键 词：鲁棒稳定性 未建模动态 自校正控制器 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]