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针对一类离散时间非线性被控对象,根据模型参数的变化范围,对被控对象建立多个模型,并针对每一模型设计控制器.基于模型的估计误差建立指标切换函数,每一采样时刻,利用指标切换函数选择最优模型,并将基于此模型的控制器切换为当前控制器.采用“局部化”技术,保证在不损失控制品质的同时,减少多模型自适应控制器的计算量.可以证明,多控制器相互切换时闭环系统是稳定的,同时由于多个模型的存在,控制品质得到了极大的改善.
Aiming at a type of discrete-time non-linear controlled objects, according to the variation range of model parameters, a number of models are established for the controlled object, and the controller is designed for each model.It establishes the index switching function based on model-based estimation error, and each sampling moment , Use the index switching function to select the optimal model, and switch the controller based on this model to the current controller.Using “localization ” technology to ensure that without losing control quality, reduce the multi-model adaptive controller It can be proved that the closed-loop system is stable when multiple controllers switch each other, and the control quality has been greatly improved due to the existence of multiple models.