一种最优抗扰自适应控制  

An adaptive control with optimal disturbances rejection

作　　者：李平[1] 

机构地区：[1]汕头大学机械电子工程系,汕头515063

出　　处：《中国科学：信息科学》2013年第5期682-693,共12页Scientia Sinica(Informationis)

基　　金：国家自然科学基金项目(批准号:60774019;51175315);广东省自然科学基金重点项目(批准号:9251503101000004);广东省自然科学基金团队项目(批准号:8351503101000001);广东省重点实验室建设项目(批准号:2011A060901026)资助

摘　　要：针对含未知干扰系统研究了具有最优抗扰性能的自适应控制问题.利用对象参数的先验知识和量测数据构成可实时更新的非空模型集合,以系统的整体性能指标为辨识准则,在模型集内优化选取最优标称模型,完成对象模型的在线最优辨识.然后根据-1优化设计方法以闭环系统整体性能为指标,在线设计最优闭环控制器.上述两方面结合起来给出了一种最优自适应控制策略.由于辨识准则与控制目标是一致的,文中的方法能够有效地解决自适应系统的性能优化问题和辨识与控制的相互配合等问题,且能给出可验算的性能指标.This paper provides a way to optimize the overall disturbances rejection performance of the adaptive control system in the presence of unknown external disturbances.Especially,the updatable non-empty admissible model set,which is consistent to the a priori knowledge of the plant parameter and the online measurements,is computed.With the overall system performance as the criteria,the nominal model is optimally chosen within the admissible model set.The optimal nominal model is subsequently used to synthesize the optimal closed-loop controller based on the-1 design methodology.Combining the above two aspects,an optimal adaptive control scheme is proposed.Because of the consistency of the identi-cation criteria and control object,the adaptive control scheme proposed in this paper can achieve the overall optimal disturbances rejection performance,and the e-ect of the interplay between the identi-cation and control of the adaptive system can be handled e-ectively.In addition,the computable optimal performance is also provided.

关 键 词：未知干扰 自适应控制 优化设计 最优抗扰 模型集合 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]