基于有界扰动分区的多模型自适应控制

对于含有界扰动的离散时间系统,将有界扰动变化范围分割成若干小区间,针对这些区间建立多个自适应模型,并针对每一个自适应模型建立相应的控制器.给定一个指标切换函数,基于多个自适应模型控制器和给定的指标切换函数构成多模型自适应控制器.可以证明多模型自适应控制器能够保证闭环系统是输入输出有界稳定的.仿真实例表明,当被控对象的有界扰动随时间变化的时候,采用单一模型自适应控制,系统输出很难跟踪设定值,而多模型自适应控制器却极大地改善了控制品质.

Multiple model adaptive control based on the divided scope of bounded disturbance

The discrete time system with bounded disturbance is considered in this paper.The changing scope of bounded disturbance is divided into several subranges.According to different subrange,multiple adaptive models are set up.Meanwhile,multiple adaptive controllers are given according to the multiple adaptive models.Based on the multiple controllers,a multiple model adaptive controller can be formed by using an index switching function.The closed-loop system is proved to be bounded-input and bounded-output stable when the multiple model adaptive controller is used.When the bound of disturbance is time-varying,from the simulation example it can be seen that the output of the system is difficult to track the set-point value by using single model adaptive controller,and the control performance can be improved greatly by using the proposed multiple model adaptive controller.