摘要
对具有高阶不确定关联作用、未知不确定界、线性时不变关联系统，提出了一种分散鲁棒自适应控制方法．控制包括反馈增益的自适应估计和基于所估计参数的分散鲁棒控制．自适应方案的引入，克服了分散鲁棒控制方法中需要已知不确定性界的缺点．采用极点配置（或最优控制）方法设计常值反馈增益，避免了常值反馈自适应设计中需要人为给定反馈系数的问题，同时使系统具有更好的暂态特性．对运动小车二阶倒立摆的数值仿真证实了本方法的有效性．
A decentralized robust adaptive control method is presented for large scale systems with uncertain high order interconnections. Control law has two parts,e.g.,adaptive estimation of feed back gain and robust control based on this estimated parameter. With introduction of adaptation ,drawbacks of previous methods are overcome where the bounds of uncertainties must be known. Simulations show the effectiveness of the proposed control method .
出处
《西安工业学院学报》
CAS
1997年第3期173-179,共7页
Journal of Xi'an Institute of Technology
关键词
自适应控制
分散控制
鲁棒控制
不确定界
adaptive control interconnected uncertain systems decentralized control robust control bound of uncertainty
