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本文在Narendra等人所提出的适用于理想对象的混合自适应控制方案的基础上提出了两种混合自适应方案,本文首先将Narendra等人提出的仅适合于理想对象的控制器方案利用规范化方法推广到对象具有未建模动态情况,提出了一种修正方案,然后又针对修正方案在某些情况下收敛速度缓慢这一缺点进行分析,发现是Narendra方案的固有缺点,于是又提出了一种变换误差模型方案,采用两种不同的敏感函数和误差测度模型交替使用的方法去估计控制参数,既利用了Narendra方案的优点,也克服了Narendra方案的固有缺点,使系统的跟踪性能有很大改进。
Based on the hybrid adaptive control scheme proposed by Narendra et al. For ideal objects, this paper proposes two hybrid adaptive schemes. In this paper, firstly, the controller scheme proposed by Narendra et al., Which is only suitable for the ideal target, This paper proposes a modified scheme, and then analyzes the shortcomings of the slow convergence rate of the modified scheme in some cases. It is found that it is an inherent disadvantage of the Narendra scheme, and then proposes a Transform error model scheme, the two different sensitive functions and error measure model are used alternately to estimate the control parameters, which not only take advantage of the Narendra scheme, but also overcome the inherent shortcomings of the Narendra scheme and make the tracking performance of the system very large Improve.