Higher-order properties and extensions for indirect MRAC and APPC of linear systems  

作　　者：Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG 

机构地区：[1]National Key Lab of Autonomous Intelligent Unmanned Systems,Beijing Institute of Technology,Beijing 100081,China [2]School of Automation,Beijing Institute of Technology,Beijing 100081,China [3]Beijing Institute of Technology Chongqing Innovation Center,Chongqing 401120,China [4]College of Control Science and Engineering,Zhejiang University,Hangzhou 310058,China [5]Department of Electrical and Electronic Engineering,Imperial College London,London SW72AZ,UK [6]KIOS Research and Innovation Center of Excellence,University ofCyprus,P.O.Box,Nicosia 1678,Cyprus

出　　处：《Science China(Information Sciences)》2024年第4期214-234,共21页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China(Grant Nos.62322304,61925303,62173323,62003277,62088101,U20B2073);Foundation(Grant No.2019-JCJQ-ZD-049);Beijing Institute of Technology Research Fund Program for Young Scholars。

摘　　要：Recently,a reference derived some new higher-order output tracking properties for direct model reference adaptive control(MRAC)of linear time-invariant(LTI)systems:limt→∞e^((i))(t)=0,i=1,...,n^(*-1),where n^(*)and e^((i))(t)denote the relative degree of the system and the i-th derivative of the output tracking error,respectively.However,a naturally arising question involves whether indirect adaptive control(including indirect MRAC and indirect adaptive pole placement control)of LTI systems still has higher-order tracking properties.Such properties have not been reported in the literature.Therefore,this paper provides an affirmative answer to this question.Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and,in particular,without the persistent excitation condition.Given the higher-order properties,a new adaptive control system is developed with stronger tracking features.(1)It can track a reference signal with any order derivatives being unknown.(2)It has higher-order exponential or practical output tracking properties.(3)Finally,it is different from the usual MRAC system,whose reference signal's derivatives up to the n^(*)order are assumed to be known.Finally,two simulation examples are provided to verify the theoretical results obtained in this paper.

关 键 词：higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]