Chapter Three. Basic Idea of Adaptive Control for Single-Input Systems

Yang Zhu, M. Krstić
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Abstract

This chapter provides a variety of adaptive predictor control techniques to deal with different uncertainty collections from four basic uncertainties. These include delay, parameter, ODE state, and PDE state. In the presence of a discrete actuator delay that is long and unknown, but when the actuator state is available for measurement, a global adaptive stabilization result is obtainable. In contrast, the problem where the delay value is unknown, and where the actuator state is not measurable at the same time, is not solvable globally, since the problem is not linearly parameterized in the unknown delay. In this case, a local stabilization is feasible, with restrictions on the initial conditions such that not only do the initial values of the ODE and actuator state have to be small, but also the initial value of the delay estimation error has to be small (the delay value is allowed to be large but the initial value of its estimate has to be close to the true value of the delay).
第三章。单输入系统自适应控制的基本思想
本章提供了各种自适应预测器控制技术来处理来自四种基本不确定性的不同不确定性集合。这些参数包括延迟、参数、ODE状态和PDE状态。在存在长且未知的离散执行器延迟的情况下,当执行器状态可用于测量时,可以获得全局自适应稳定结果。而对于延迟值未知且执行器状态不可测的问题,由于问题在未知的延迟中没有被线性参数化,因此无法全局求解。在这种情况下,局部稳定是可行的,但对初始条件有一定的限制,不仅要求ODE和致动器状态的初始值必须小,而且要求延迟估计误差的初始值必须小(允许延迟值很大,但其估计的初始值必须接近延迟的真实值)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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