多模型切换自适应控制系统的分析-控制科学与工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 II II Abstract The control of dynamical systems when there are large uncertainties is of great interest. Traditional adaptive control of such systems can not achieve good performace. Multiple models, switching and tuning approch is an efficient scheme to cope with such problems.In this thesis, we discussed the problem of adaptive control three of types systems, determinstic system, stochastic system when random disturbances are present, and a nonlinear discrect-time system using neural networks. Firstly, the adptive control problem of a linear discrect-time system in nosie free case is considered. The composition of the model set is discussed in detail.Based on the prediction errors of a finite nubmer of fixed and adaptive identification models,a procedure is outlined for switching between a finite number of controllers to improve performance.The thesis gives the proof of global stability of the overall system and the covergence of the tracking error signal to zero in the determinstic case. Based on the previous foundations, the adptive control problem of a linear discrect-time system in stochastic case is considered.In this thesis we consider using different identification algorihms, and using the multiple models approach to select, on line, the one that results in the best performace of the overall system for the given disturbance characteristics.This thesis demonstrate that the convergence of these schemes can be treated in a unified manner. Simulations are included to indicate the improvement in the performace tha can be achieved using such schemes. Finally, adaptve control of a class of nonlinear discrect time dynamical systems is cosidered.The model set has two parts,one is linear adaptive model and another is nonliner model based on neural network.Each one has its own controller.At every instant of time,the performance of the linear identifier and nonliear identifer in predicting the output of the plant are computed,based on a