扰动抑制无模型自适应控制的鲁棒性分析

摘要

针对一类存在测量扰动的SISO非线性离散时间系统,研究无模型自适应控制算法的扰动作用问题.首先给出了系统输出误差与测量扰动的关系,分析了测量扰动对控制性能的影响.然后提出了一种带有滤波器的改进无模型自适应控制算法,该算法较常规无模型自适应控制算法可有效抑制测量扰动的作用.仿真结果验证了理论分析的正确性.%For a class of single-input single-output(SISO) nonlinear discrete-time systems, the measurement disturbance impacts to a model-free adaptive control are considered. The relationship between the output error and the measurement disturbance are given, and the influence of the measurement disturbance is also analyzed. Then, an improved model-free adaptive control algorithm with a filter is proposed, which suppresses the measurement disturbance effectively. The analysis is supported by simulations.