带有跟踪微分器的无模型自适应控制方法研究

摘要

针对无模型自适应控制方法对一类存在测量扰动的 SISO非线性系统控制效果不佳的情况，将自抗扰控制器中的跟踪微分器作为反馈滤波器加入到无模型自适应控制中，提出了一种论述无模型自适应控制方法。该方法将测量信号通过反馈通道的跟踪微分器滤波后，再与给定信号求差得到误差信号进行控制，从而有效抑制测量干扰带来的影响，获得更好的输出性能，提高无模型自适应方法的鲁棒性。仿真结果验证了此方法的有效性。%With an aim to solve the problem that the basic M FAC (model‐free adaptive control ) method has had a poor control performance for a class of SISO nonlinear system with measure‐ment disturbance , the tracking differentiator (TD ) in the active disturbance rejection control (ADRC) is added to the model‐free adaptive control as a feedback filter so that a kind of new method for enhancing the ability to suppress interference is suggested .This method first makes the measured signals filter through the tracking differentiator of the feedback channel and then seek for the differences with given signals to obtain the error signals for carrying out control , whereby effectively suppressing the interference brought about by the measurement .Thus far , better output performance are obtained and the robustness of the model‐free adaptive method has been improved .T he simulation results verify the effectiveness of this method .