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首页> 外文期刊>Journal of guidance, control, and dynamics >Derivative-Free Model Reference Adaptive Control
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Derivative-Free Model Reference Adaptive Control

机译：无导数模型参考自适应控制

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摘要

A derivative-free, delayed weight update law is developed for model reference adaptive control of continuous-time uncertain systems, without assuming the existence of constant ideal weights. Using a Lyapunov-Krasovskii functional it is proven that the error dynamics are uniformly ultimately bounded, without the need for modification terms in the adaptive law. Estimates for the ultimate bound and the exponential rate of convergence to the ultimate bound are provided. Also discussed are employing various modification terms for further improving performance and robustness of the adaptively controlled system. Examples illustrate that the proposed derivative-free model reference adaptive control law is advantageous for applications to systems that can undergo a sudden change in dynamics.
机译：开发了无导数的延迟权重更新定律，用于连续时间不确定系统的模型参考自适应控制，而无需假设存在恒定的理想权重。使用Lyapunov-Krasovskii函数，证明了误差动态统一地最终有界，而在自适应定律中不需要修改项。提供了极限界限的估计值以及收敛到极限界限的指数速率。还讨论了采用各种修改术语以进一步提高自适应控制系统的性能和鲁棒性。实例说明，所提出的无导数模型参考自适应控制定律对于动态可能发生突然变化的系统的应用是有利的。

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