一种鲁棒混合自适应控制器

 目前,国内外关于对象具有干扰或未建模动态时的混合自适应控制,仍处于探索阶段。由于连续对象混合控制系统在某些方面优于全连续或全离散系统,因而引起了国内外学者的重视。 本文提出一种新的适用于受扰对象的混合自适应律,并且从理论上证明了由这种控制律所构成的自适应控制器具有鲁棒稳定性。

A ROBUST HYBRID ADAPTIVE CONTROLLER

In this short paper a new hybrid adaptive controller of continuous plant in presence of bounded disturbances is presented. It is shown that for this class of disturbances proposed algorithm in the paper guarantees boundedness for all signals in closed loop and the tracking error between output of closed loop plant and output of desired model belongs to small residual error set. The controller is robust stable.The controller is designed for invariant plant or slow variant plant. Besides simulation for invariant plant, we have done simulation for the autopilot of ground-air missile in which the parameters quickly vary with height and velocity in flight progress. The simulation result shows that the hybrid adaptive controller is more advantageous than discrete time adaptive controller in some aspects Hybrid adaptive control may be very useful for astronautical engineering.