CAJ | 학술논문

本文研究了具有混合自适应律的直接型模型参考自适应控制.对这种混合的MRAC方案, 我们严格地证明了闭环系统的所有信号都有界, 同时得到了跟踪误差满足e1∈S(μ2(Δ2+Δ2∞)+d20+1/a20). 同文献[1]的控制方案相比,这种具有混合自适应律的直接型模型参考自适应控制具有如下优点: 1) 实现过程中计算量大大减小; 2) 具有更好的鲁棒性.
본문연구료구유혼합자괄응률적직접형모형삼고자괄응공제.대저충혼합적MRAC방안, 아문엄격지증명료폐배계통적소유신호도유계, 동시득도료근종오차만족e1∈S(μ2(Δ2+Δ2∞)+d20+1/a20). 동문헌[1]적공제방안상비,저충구유혼합자괄응률적직접형모형삼고자괄응공제구유여하우점: 1) 실현과정중계산량대대감소; 2) 구유경호적로봉성.
Direct model reference adaptive control (MRAC) with hybrid adaptive law is studied in this paper. For the hybrid MRAC scheme, we prove rigorously that all signals in the closed-loop system are bounded, meanwhile the tracking error satisfies e1∈S(μ2(Δ2+Δ2∞)+d20+1/a20. Compared with control schemes in [1], the hybrid MRAC has the following advantages: (1) the smaller computational effort during implementation, and (2) the better robustness properties in the presence of measurement noise.