分层递阶多模型自适应解耦控制器.pdfVIP

Vol. 31, No. 2 ACTA AUTOMATICA SINICA March, 2005 Multivariable Adaptive Decoupling Controller Using Hierarchical Multiple Models1) WANG Xin1 LI Shao-Yuan1 YUE Heng2 1(Institute of Automation, Shanghai Jiaotong University, Shanghai 200030) 2(Research Center of Automation, Northeastern University, Shenyang 110004) (E-mail: wangxin26@sjtu.edu.cn) Abstract To solve the problem such as too many models, long computing time and so on, a hierarchical multiple models direct adaptive decoupling controller is designed. It consists of multiple levels. In the upper level, the best model is chosen according to the switching index. Then multiple fixed models are constructed on line to cover the region which the above chosen fixed model lies in. In the last level, one free-running and one re-initialized adaptive model are added to guarantee the stability and improve the transient response. By selection of the weighting polynomial matrix, it not only eliminates the steady output error and places the poles of the closed loop system arbitrarily, but also decouples the system dynamically. At last, for this multiple models switching system, global convergence is obtained under common assumptions. Compared with the conventional multiple models adaptive controller, it reduces the number of the fixed models greatly. If the same number of the fixed models is used, the system transient response and decoupling result are improved. The simulation example illustrates the power of the derived controller. Key words Multiple models, hierarchical, direct adaptive control, decoupling, pole placement 1 Introduction It is known that a system with unknown time invariant or slowly time varying parameters can get good performance by using an adaptive controller. But when the system boundary condition changes, the subsystem fails, or large external disturbance presents, the parameters of the system will change abruptly and large parameter errors will generally result in poor transient response[1]. To sol