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针对时变结构系统提出一种结构适应式自校正控制器 ,它由变阶式递推最小二乘法和变结构控制律组成。当系统结构变化时 ,切换算法为结构变化后的主算法提供初值 ,实现两种结构的平滑过渡。该结构适应式控制器能在线自动修正其自身参数和调整自身结构 ,以适应系统参数乃至结构的变化。其设计方法也适用于一般的变结构系统。仿真研究表明 ,该控制器对变结构系统是有效的。
Aiming at the time-varying structure system, a structural adaptive self-tuning controller is proposed. It consists of variable-order recursive least square method and variable structure control law. When the system structure changes, the switching algorithm provides the initial value for the main algorithm after the structural change, so as to realize the smooth transition of the two structures. The structure-adaptive controller can automatically correct its own parameters online and adjust its structure to adapt to changes in system parameters and even the structure. Its design method is also suitable for general variable structure system. Simulation results show that the controller is effective for variable structure system.