ROBUST ADAPTIVE REGULATION WITHOUT PERSISTENT EXCITATION

被引:41
作者
LOZANOLEAL, R [1 ]
机构
[1] NASA,LANGLEY RES CTR,HAMPTON,VA 23665
关键词
Computer Programming--Algorithms - Control Systems; Linear - Mathematical Techniques--Matrix Algebra;
D O I
10.1109/9.40771
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A globally convergent adaptive regulator for minimum or nonminimum phase systems subject to bounded disturbances is presented. The control strategy is designed for a particular input-output representation obtained from the state-space representation of the system. The leading coefficient of the novel representation is the product of the observability and controllability matrices of the system. The controller scheme uses a least-squares identification algorithm with a dead zone. The dead zone is chosen to obtain convergence properties on the estimates and on the covariance matrix as well. This allows the definition of modified estimates which secure well-conditioned matrices in the adaptive control law. Explicit bounds on the plant output are given.
引用
收藏
页码:1260 / 1267
页数:8
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