自适应近似时间最优控制器的实现

1988 American Control Conference Pub Date : 1988-06-15 DOI:10.23919/ACC.1988.4789982

M. Workman, G. Franklin

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引用次数: 14

摘要

在简要回顾了近似时间最优伺服机制(PTOS)和自适应版本的PTOS (APTOS)之后，将描述实现技术，使这两种算法适用于具有实根的二阶植物的离散时间控制。以双积分器装置和实极加积分器装置为例。讨论了未建模动力学对算法的影响，并通过仿真和实验加以说明。

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Implementation of Adaptive Proximate Time-Optimal Controllers

Following a brief review of the Proximate Time-Optimal Servomechanism (PTOS) and the Adaptive version of PTOS (APTOS), implementation technique will be described which make both algorithms practical for discrete time control of second order plants with real roots. The double integrator plant and the real pole plus an integrator plant are both used as examples. The effects of unmodeled dynamics on the algorithms are discussed and illustrated by simulation and experiment.

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1988 American Control Conference

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