有界增益遗忘L1自适应控制算法的研究  

Research on Bounded-Gain Forgetting L Self-Adaptive Control Algorithms

作　　者：屈原 李波[1] 徐向丽[1] QU Yuan;LI Bo;XU Xiang-li(Ordos Vocational College,Ordos 017000,China)

机构地区：[1]鄂尔多斯职业学院,内蒙古鄂尔多斯017000

出　　处：《内蒙古大学学报（自然科学版）》2020年第4期434-440,共7页Journal of Inner Mongolia University：Natural Science Edition

基　　金：内蒙古自治区高等学校科学研究项目(NJZY20217)。

摘　　要：针对单输入单输出非线性系统存在参数不确定性和干扰,结合L1自适应方法和极点配置控制方法,提出一种有界遗忘增益L1自适应控制方法,其中极点配置控制器主要用来保证线性部分闭环稳定,L1自适应控制器则用于抵消系统的非线性特性、参数不确定性和干扰。在L1自适应律中采用改进的有界增益遗忘(IBGF)方法计算自适应增益,将定常自适应增益换成时变的增益,由低到高的平缓时变增益可以有效地抑制由非零初始状态造成的扰动,该算法的稳定性得到了证明。仿真验证表明该方法具有很好的控制效果,验证了它的有效性和实用性。Aiming at the uncertain parameters and disturbances in a single input and output nonlinear system,the L1 self-adaptive method and pole assignment control method is combined to put forward the bounded L1 self-adaptive control method,in which the pole assignment controller is mainly used to guarantee the stability of the part of the closed loop,meanwhile,the L1 adaptive controller is used to offset the system nonlinear characteristics,parameter uncertainty and disturbance.It is worth mentioning that the L1 adaptive law uses the improved bounded gain forgetting(IBGF)method to calculate the adaptive gain,to replace the original constant adaptive gain with time-varying gain(TVG).The TVG from low to high flat can effectively restrain disturbance caused by nonzero initial state,and the stability of the algorithm are given.Finally,the simulation results show that the method is effective and practical.

关 键 词：L1自适应控制 极点配置 有界增益遗忘 

分 类 号：V279[航空宇航科学与技术—飞行器设计]