https://scholars.lib.ntu.edu.tw/handle/123456789/324030
標題: | A robust MRAC using variable structure design for multivariable plants | 作者: | Chien, Chiang-Ju Sun, King-Chuan Wu, A-Chen LI-CHEN FU |
關鍵字: | Arbitrary generalized relative degree; Model reference adaptive control; Multivariable plants; Robustness; Variable structure design | 公開日期: | 1996 | 卷: | 32 | 期: | 6 | 起(迄)頁: | 833-848 | 來源出版物: | Automatica | 摘要: | It is well known that undesirable transient responses and tracking performances have been frequently observed in traditional model reference adaptive control (MRAC) problems, especially for multivariable plants with unmodeled dynamics and output disturbances. In this paper, a new robust model reference adaptive control using variable structure design (VSD) is proposed to investigate the solution. Based on a definition of generalized relative degree (GRD) for multivariable plants, the general case for plants with arbitrary GRD is completely solved. It is shown that, even when the uncertainties are presnet, global stability and robustness of the closed-loop control system are achieved. Furthermore, without any persistence of excitation, the tracking errors will, at least asymptotically, converge to zero for GRD-one plants and to a small residual set for plants with any higher GRD. With a suitable choice of initial control parameters, the tracking errors can even be driven to zero in finite time for GRD-one plants and to a small residual set exponentially for plants with any higher GRD. Copyright © 1996 elsevier Science Ltd. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-0030168450&doi=10.1016%2f0005-1098%2896%2900009-X&partnerID=40&md5=3f30ceebe75b496862f672a4847eb98a http://scholars.lib.ntu.edu.tw/handle/123456789/324030 |
ISSN: | 00051098 | DOI: | 10.1016/0005-1098(96)00009-X | SDG/關鍵字: | Adaptive control systems; Closed loop control systems; Control theory; Mathematical models; Multivariable control systems; Parameter estimation; Performance; Robustness (control systems); Switching theory; System stability; Time varying control systems; Control parameters; Generalized relative degree; Global stability; Model reference adaptive control; Multivariable plants; Presnet; Tracking errors; Variable structure design; Control system analysis |
顯示於: | 資訊工程學系 |
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