互质因子摄动系统最优l1鲁棒控制:连续性与自适应控制

针对具有互质因子摄动和未知干扰的离散时间系统研究了一种自适应鲁棒控制策略. 本文的主要工作包括三个方面.首先建立了互质因子摄动系统最优l1鲁棒控制设计的连续性. 然后,提出了一种带变死区的参数鲁棒估计投影算法.最后,结合所提出的参数估计算法和最优 l1鲁棒控制,利用确定性等价原理提出了互质因子摄动系统的一种新的自适应鲁棒控制方法.基 于本文建立的l1优化设计的连续性,证明了自适应鲁棒控制的全局稳定性,给出了自适应控制系 统稳定性的后验可计算条件.

Optimal l1 Robust Control for Plants with Coprime Factor Perturbations:Continuity Properties and Adaptation

This paper presents an adaptive robust control scheme for a discrete time plant subject to both coprime factor perturbations and unknown external disturbances. Firstly, we establish nice continuity properties for l 1 optimization resulting from optimal robust control of discrete time uncertain systems with coprime factor perturbations. Then, we propose a robust parameter estimate algorithm with variant dead zone. Finally, combining the proposed parameter estimate algorithm with optimal l 1 robust control, we present a novel adaptive robust control scheme for plants with coprime factor perturbations based on the certainty equivalence principle. With the continuity properties of l 1 optimization established in this paper, the proposed adaptive scheme is shown to be uniformly stable. A posterior computable condition for the stability of the adaptive scheme is also provided in this paper.