Robust adaptive control scheme for uncertain switched systems
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摘要: 针对切换信号依赖于独立决策变量的不确定切换系统,基于多Lyapunov函数方法和模型参考自适应控制理论,提出并分析一种控制器具有非线性死区特征的鲁棒自适应切换控制方案.首先,由参考切换系统和自适应控制律集合建立闭环切换系统,而后构造Lure-Postnikov形式的多Lyapunov函数,并以一组线性矩阵不等式推导给出闭环切换系统为有界模型参考自适应控制系统的充分条件.最后,选择HiMAT(Highly Maneuverable Aircraft Technology)飞行器包线内的5个工作点,以其纵向短周期运动模型建立切换系统,并设计具有非线性死区特征的鲁棒自适应控制器.仿真验证了方案的有效性,结果表明系统在快速连续切换下可良好地跟踪期望轨迹.Abstract: For a class of uncertain switched linear systems, based on multiple Lyapunov functions method and model reference adaptive control theory, a robust adaptive switching control scheme with controller having nonlinear deadzone character was proposed, on which the switching law evolves according to the independent decision variables. Firstly, the closed-loop switched system was constructed by reference switched system and adaptive control laws. Afterwards, using Lure-Postnikov Lyapunov function, a sufficient condition via linear matrix inequations was deduced, which guaranteed closed-loop switched system was bounded model reference adaptive control system. Finally, five operating points of HiMAT(highly maneuverable aircraft technology)vehicle within the operating envelope were selected, and the five linear decoupled models corresponding to short period dynamics of the longitudinal motion composed the switched system, and then finite robust adaptive controllers with nonlinear deadzone character were designed. Simulation shows the effectiveness of proposed method, the system trajectory well tracks desired trajectory under fast and consecutive switchings.
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Key words:
- switched system /
- adaptive control system /
- flight dynamics /
- control system synthesis
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