带参数辨识的 H-∞鲁棒控制方法  

H ∞ robust control approach with parameter identification

作　　者：丁刚[1] 王勋先[1] 韩曾晋[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《清华大学学报（自然科学版）》1999年第7期76-79,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家教委"211 工程"项目

摘　　要：从控制方法的实用性出发，综合鲁棒控制和自适应控制方法，处理存在各种非结构不确定性及参数不确定性的线性对象。运用状态空间 Ｈ∞方法设计鲁棒控制器，抑制外部干扰，未建模动态及参数误差。进而引入鲁棒辨识器以确定对象的标称参数，减小鲁棒控制的保守性。并证明了闭环系统的稳定性和鲁棒性。结合 Ｒｏｈｒｓ 反例，验证了算法有效性。该方法实现了自适应律与控制方法的分离，从而避免了传统‘确定性等价原理’带来的系统分析和实际应用的复杂性。This paper tackles linear systems with both unstructured uncertainties and parametric uncertainties combining robust control and adaptive control methods in order to make advanced control theory more practical. State space H ∞ approach is employed to design a robust controller so as to deal with external disturbances, unmodelled dynamics and parameter errors. A robust identification approach is also presented to obtain nominal parameters and reduce the conservativeness of conventional robust control methods. The stability and robustness of the closed system are proved. An illustrative example based on Rohrs' contradiction shows the effectiveness of the proposed method. This approach separates the adaptive law and the control approach such that it avoids traditional ‘certainty equivalence principle’ which makes system analysis and practical application complicated.

关 键 词：参数辨识 自适应控制 鲁棒控制 H∞控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]