一种改进的紧格式无模型自适应控制方法

针对一类由一般非线性函数描述的离散时间非线性系统,采用等价动态线性化技术,提出一种改进的紧格式无模型自适应控制(iCF-MFAC)方法.iCF-MFAC方法的自适应控制律包含两项:时变比例控制项和时变积分控制项,与只有一项时变积分项的原CF-MFAC方法相比,iCF-MFAC方法具有更好的通用性和灵活性,并能够提供更好的动态控制性能.其次,将iCF-MFAC方法与具有类似控制器结构的基于全格式动态线性化技术的无模型自适应控制方法进行对比分析,在相同控制器参数作用下,iCF-MFAC方法具有更快的输出响应.最后,从理论上证明闭环iCF-MFAC系统的收敛性和稳定性,并分别通过数值仿真和真实实验验证所提出方法的有效性和可行性.

An improved compact form model free adaptive control method

An improved compact format model free adaptive control (iCF-MFAC) method based on an equivalent dynamic linearization technique is proposed for a class of discrete-time nonlinear systems described by a general nonlinear function. The adaptive control law of the iCF-MFAC method consists of two parts: A time-varying proportional control term and a time-varying integral control term. Compared with the corresponding original CF-MFAC method with only a time-varying integral term, the iCF-MFAC method is not only more universal and flexible, but also can provide a better dynamical control performance. In addition, the comparison is also made between the iCF-MFAC method and an MFAC method that has a similar controller structure and is based on a full format dynamic linearization data model. With the same controller parameters, the iCF-MFAC can yield a faster output response. Then, the convergence and stability of the resulting closed-loop iCF-MFAC system are proved through rigorous analysis. Both numerical simulations and practical experiments are carried out to demonstrate the effectiveness and feasibility of the proposed method.