FE条件下非匹配不确定对象的指数收敛直接自适应极点配置控制
Exponentially Convergent Direct Adaptive Pole Placement Control of Plants with Unmatched Uncertainty under FE Condition
摘要：
针对非匹配不确定性对象，提出了一种直接自适应极点配置控制（APPC）的新方法。它保证了当回归量为负激励时，控制系统的指数稳定性和控制律可调参数的指数收敛性。考虑到已知的经典APPC方案和指数调节的自适应方法，所提出的方法的优点是，它不需要控制输入矩阵的先验信息，并确保控制律的每个可调参数的单调瞬态行为。数值实验验证了理论分析的正确性。
英文摘要：
A new method of direct adaptive pole placement control (APPC) is developed for plants with unmatched uncertainty, which linearly depends on a state vector. It guarantees the exponential stability of a control system and exponential convergence of control law adjustable parameters to their true values when the regressor is finitely exciting. Considering the known classical APPC schemes and adaptive methods with exponential regulation, the advantages of the proposed one are that it does not require a priori information on a control input matrix and ensures the monotonic transient behavior of each adjustable parameter of the control law. The theoretical results are supported by the numerical experiments.
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