A robust stochastic adaptive controller

Chen Han-Fu; Guo Lei

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A robust stochastic adaptive controller

机译：鲁棒的随机自适应控制器

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The adaptive tracking problem is considered for discrete-time stochastic systems consisting of a modeled part being a stable ARMAX process and unmodeled dynamics dominated by a small constant epsilon multiplied by a quantity independent of epsilon but tending to infinity as the past input, output, and noise grow. The adaptive control law proposed is switched at stopping times and is disturbed by a sequence of random vectors bounded by an arbitrary small but fixed constant sigma . It is shown that the closed-loop system is globally stable, the estimation errors for parameters contained in the modeled part of the order epsilon , and the tracking error differs from the minimum tracking error for systems without unmodeled dynamics by value of O( epsilon /sup 2/)+O( sigma /sup 2/).

机译：对于离散时间随机系统，考虑了自适应跟踪问题，该系统由一个模型部分（一个稳定的ARMAX过程）和一个非模型动力学组成，该模型部分由小的恒定epsilon乘以与epsilon无关的数量但随着过去的输入，输出和噪音越来越大。提出的自适应控制律在停止时进行切换，并受到以任意小但固定的常数sigma为边界的随机向量序列的干扰。结果表明，闭环系统是全局稳定的，阶epsilon的建模部分所包含的参数的估计误差，并且对于没有未建模动力学的系统，跟踪误差不同于O（epsilon / sup 2 /）+ O（sigma / sup 2 /）。

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《IEEE Transactions on Automatic Control》 |1988年第11期|P.1035-1043|共9页
作者
Chen Han-Fu; Guo Lei;
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正文语种 eng
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A robust stochastic adaptive controller

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