ROBUST AND SIMPLE ADAPTIVE-CONTROL SYSTEM-DESIGN

被引:10
作者
IWAI, Z
MIZUMOTO, I
OHTSUKA, H
OHTSUKA, H
机构
[1] KUMAMOTO UNIV,DEPT MECH ENGN,KUMAMOTO 860,JAPAN
[2] KUMAMOTO NATL COLL ELECTR & INFORMAT TECHNOL,NISHIGOHSHI,KUMAMOTO 86111,JAPAN
关键词
ROBUST ADAPTIVE CONTROL; SIMPLE ADAPTIVE CONTROL; PARALLEL FEEDFORWARD COMPENSATOR; POSITIVE REALNESS;
D O I
10.1002/acs.4480070302
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Recently, the simple adaptive control (SAC) method has attracted considerable interest because of the simple structure of its adaptive controller. The method can only be applied to plants with so-called almost strictly positive real (ASPR) characteristics. Unfortunately, most real plants do not satisfy this condition. Furthermore, real plants contain disturbances such as uncertain elements. This paper deals with such problems and proves that the implementation of a parallel feedforward compensator makes it possible to apply the SAC method to non-ASPR SISO plants with plant uncertainties. Furthermore, a robust SAC algorithm in the presence of a class of external disturbances is also considered. The effectiveness of the parallel feedforward compensator and robust adaptive controller designed in this way is examined through several numerical simulations
引用
收藏
页码:163 / 181
页数:19
相关论文
共 27 条
[1]  
Bar-kana I., 1987, International Journal of Adaptive Control and Signal Processing, V1, P95, DOI 10.1002/acs.4480010202
[2]  
Bar-kana I., 1988, International Journal of Adaptive Control and Signal Processing, V2, P133, DOI 10.1002/acs.4480020206
[3]   GLOBAL STABILITY AND PERFORMANCE OF A SIMPLIFIED ADAPTIVE ALGORITHM [J].
BARKANA, I ;
KAUFMAN, H .
INTERNATIONAL JOURNAL OF CONTROL, 1985, 42 (06) :1491-1505
[4]   ALMOST-PASSIVITY AND SIMPLE ADAPTIVE-CONTROL OF NONSTATIONARY CONTINUOUS LINEAR-SYSTEMS [J].
BARKANA, I .
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1990, 21 (05) :835-862
[5]   SIMPLE ADAPTIVE-CONTROL FOR A CLASS OF NONLINEAR-SYSTEMS WITH APPLICATION TO ROBOTICS [J].
BARKANA, I ;
GUEZ, A .
INTERNATIONAL JOURNAL OF CONTROL, 1990, 52 (01) :77-99
[6]  
BARKANA I, 1987, CONTROL DYNAMIC SYST, V25, P187
[7]  
BARKANA I, 1988, ROHRS EXAMPLES ROBUS
[9]   FEEDFORWARD CONTROL TO TRACK THE OUTPUT OF A FORCED MODEL [J].
BROUSSARD, JR ;
OBRIEN, MJ .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1980, 25 (04) :851-853
[10]  
CHEN YH, 1986, INT J CONTROL, V43, P557