The traditional robust adaptive controller is easily trapped in transient performance. To solve this problem, a multiple-model robust adaptive controller was proposed. For the adaptive control system with unmodeled dynamics, the regularization was used to convert the system unmodeled dynamics to bounded disturbance. Then, multiple-model robust adaptive controllers were designed based on the system reduced model. Finally, the BIBO stability and the boundedness of the tracking error were proven. The simulation illustrates that the proposed method is preferable.%针对传统鲁棒自适应控制器暂态性能差的缺点,提出了多模型鲁棒自适应控制方法.对于包含未建模动态的自适应控制系统,首先采用正则化技术把系统未建模动态转化为系统有界扰动,并利用系统低阶模型设计多模型鲁棒自适应控制器,最后证明了系统BIBO稳定以及跟踪误差有界.仿真实验说明所提出的方法能获得较好的控制效果.
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