线性离散时间系统的鲁棒自适应控制方法研究.pdfVIP

摘摘摘 要要要 本文研究了线性离散时间系统的间接鲁棒自适应控制方法问题, 主要分为两部分: 1. 基于多项式方法的间接鲁棒自适应极点配置控制设计. 研究了一类具有未建模动态和有界扰动的线性离散时间系统的间接鲁棒自适应极点配 置控制器设计问题, 系统的控制器设计是基于多项式方法实现的. 此外, 为了解决设计过程 中出现的奇异性问题, 进一步给出了无奇异间接鲁棒自适应极点配置控制器改进设计. 最 后通过建立系统输入与输出之间 L , L 范数性质, 并将闭环系统中所有信号与规范化信 p 2δ 号相联系, 实现对闭环系统的稳定性和鲁棒性的分析. 2. 基于状态观测器的间接鲁棒自适应极点配置控制设计. 研究了一类具有未建模动态和有界扰动的线性离散时间系统的基于状态观测器的间接 鲁棒自适应极点配置控制方法. 通过引入状态观测器和对估计参数进行修正, 得到基于该 状态观测器的无奇异间接鲁棒自适应极点配置控制器, 所设计的控制器能够保证闭环系统 中所有信号一致有界并且对参考信号具有较好的跟踪性. 关键词 线性离散时间系统, 鲁棒自适应控制, 无奇异自适应极点配置控制, 多项式方法, 状态观测器. I 万方数据 In this paper, we consider the problem of indirect robust adaptive control methods for a class of discrete-time systems, it is divided into two parts: 1. An indirect adaptive pole placement control scheme based on polynomial approach. This part investigates the problem of indirect robust adaptive pole placement control for a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the controller of the system is designed by using polynomial approach. In addition, in order to solve the singularity problem occurs in the design process, we propose singularity-free indirect robust adaptive pole placement control to improve design of the controller. By establishing the Lp and L2δ relationship properties between input and output and relating all the signals in the closed-loop systems with the normalizing signal, the stability and robustness properties of the closed-loop system are analyzed rigorously. 2. An indirect adaptive pole placement control method based on state observer. In this part, we study the design of indir