Robust Adaptive Regulation of Coprime Factor Uncertain Systems
This paper presents a robust adaptive control scheme for a discrete-time plant that is subjected to both coprime factor perturbation and unknown exogenous disturbances. The scheme is obtained by frozen-time controllers that at each time robustly stabilize the estimated models of the plant and minimize the robust performance of the estimated model over the model uncertainty. It is shown that all the variables in the adaptive closed-loop system are bounded in the presence coprime factor perturbation and unknown bounded external disturbances. Moreover, with the proposed adaptive control scheme, one can guarantee a priori bound on the size of the nonparametric dynamical uncertainty and asymptotic performance of the overall adaptive system which is no worse than that of the corresponding nonadaptive robust control.
Shengping Li
Department of Mechatronic Engineering, Shantou University Shantou, Guangdong, 515063, P.R. China
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）