论文部分内容阅读
针对具有时变不确定性且不确定性界为椭球的线性系统提出了一种新的具有自适应机制的鲁棒保性能控制器设计方法。首先,引入一个具有可由自适应律在线调整的可调参数的目标模型,通过该参数来保证由目标模型与被控模型所获得的误差系统渐近稳定。结合保证目标模型稳定性的设计,最终形成保证闭环系统稳定且控制器增益仿射依赖于可调参数的鲁棒保性能跟踪控制器。应用于安装在试验平台上的小型直升机航向控制中,仿真试验表明了该方法的有效性。
A new robust guaranteed cost controller design method with adaptive mechanism is proposed for linear systems with time-varying uncertainties and uncertainties as ellipsoid. First, we introduce a target model with tunable parameters that can be adjusted online by the adaptive law, and ensure the asymptotic stability of the error system obtained by the target model and the controlled model. Combined with the design of guaranteeing the stability of the target model, a robust guaranteed cost tracking controller that guarantees the stability of the closed-loop system and the controller gain affine relies on the adjustable parameters is finally formed. It is used in the small helicopter heading control installed on the test platform. The simulation results show the effectiveness of the method.