论文标题
指数稳定的自适应控制。第一部分。时间不变的植物
Exponentially stable adaptive control. Part I. Time-invariant plants
论文作者
论文摘要
在这项研究中，我们考虑了线性时间不变的植物，并假设满足了回归器有限激发要求。在这种情况下，在本研究中提出了一项调整控制器参数的新定律，以确保在本研究中提出了在未包括在该法律中的状态下，可确保跟踪误差的经典动态模型的指数稳定性。此外，它还放松了自适应控制理论的许多经典假设和要求，即需要了解植物高频增益的符号/价值，需要基于实验的基于实验的适应性适应性增益值的选择，即对跟踪误差传递功能的要求，才能严格考虑实际考虑积极的实际考虑输出反馈控制。显示了拟议法律对自适应状态和输出反馈控制问题的适用性。证明了所提出方法比著名方法的优点。
In this research we consider linear time-invariant plants and assume that the regressor finite excitation requirement is met. In such case, a new law to adjust the controller parameters, which ensures the exponential stability of the classical dynamic model of the tracking error under the condition that its states are not included in such a law, is proposed in this study. In addition, it also relaxes a number of classical assumptions and requirements of the adaptive control theory, i.e. the necessity to know the sign/value of the plant high-frequency gain, the need of experimentally based choice of the proposed law adaptive gain value, the requirement to the tracking error transfer function to be strictly positive real considering the output feedback control. The applicability of the proposed law to the problems of adaptive state and output feedback control is shown. The advantages of the proposed method over the well-known ones are demonstrated.
