论文标题
具有双重自适应的时变系统的复合自适应控制
Composite Adaptive Control for Time-varying Systems with Dual Adaptation
论文作者
论文摘要
本文提出了使用双重自适应方案的复合自适应控制体系结构，用于包含时变不确定参数的动力学系统。尽管文献中的大多数自适应控制方案都涉及恒定参数的情况，但最近的研究概念化了改进的具有严格稳定性证明的时变系统的自适应控制技术。拟议的工作是朝着类似方向迈进的努力，在这种方向上引入了一种新型的双重适应机制，以有效地应对参数的随时间变化的性质。投影和$σ$ - 修改算法是在战略上使用变量的连接来合并的，以声称跟踪误差空间的全局结果。尽管经典自适应系统需要限制激发（PE）的限制条件，以进行准确的参数估计，但拟议的工作依赖于较温和的条件，称为初始激发（IE）。进行了严格的Lyapunov稳定性分析，以建立闭环系统的最终有限（UUB）稳定性。此外，分析表明，在时间不变系统的情况下，提出的工作可以恢复先前设计的基于IE的自适应控制器的性能。
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of constant parameters, recent research has conceptualized improved adaptive control techniques for time-varying systems with rigorous stability proofs. The proposed work is an effort towards a similar direction, where a novel dual adaptation mechanism is introduced to efficiently tackle the time-varying nature of the parameters. Projection and $σ$-modification algorithms are strategically combined using congelation of variables to claim a global result for the tracking error space. While the classical adaptive systems demand a restrictive condition of persistence of excitation (PE) for accurate parameter estimation, the proposed work relies on a milder condition, called initial excitation (IE) for the same. A rigorous Lyapunov stability analysis is carried out to establish uniformly ultimately bounded (UUB) stability of the closed-loop system. Further it is analytically shown that the proposed work can recover the performance of previously designed IE-based adaptive controller in case of time invariant systems.
