Stability Analysis of Robust Multiple Model Adaptive Control Systems
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摘要: 研究含有不确定性的连续时间随机被控对象的鲁棒多模型自适应控制(Robust multiple model adaptive control, RMMAC)的闭环稳定性问题. 通过采用基于模型输出误差指标的 加权算法取代传统的基于卡尔曼滤波器和贝叶斯后验概率公式的加权算法, 在权值收敛的前提下, 基于虚拟等价系统(Virtual equivalent system, VES)理论给出了此类鲁棒多模型自适应控制系统的闭环稳定性证明, 并将结果推广到可以用多个线性系统系统模型进行逼近的 一类非线性慢时变被控对象.
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关键词:
- 鲁棒多模型自适应控制 /
- 稳定性 /
- 虚拟等价系统 /
- 加权
Abstract: The paper is concerned with the stability of robust multiple model adaptive control (RMMAC) systems. First, the traditional weighting algorithm based on multiple model Kalman filter and Bayes formulas is replaced by a newly developed weighting algorithm; second, with the help of virtual equivalent system (VES) concept and methodology, the stability results are presented for both continuous, linear time-invariant plant and a kind of nonlinear time varying plant. -
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